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reformulate how constraints are managed in the projection class

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This commit is contained in:
Xuchen Han
2019-07-11 11:26:30 -07:00
parent b28f1fdac3
commit 4e5f4b9fe9
5 changed files with 173 additions and 138 deletions
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53
src/BulletSoftBody/btCGProjection.h
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@@ -11,6 +11,34 @@
#include <unordered_map>
class btDeformableRigidDynamicsWorld;
struct Constraint
{
const btSoftBody::RContact* m_contact;
const btVector3 m_direction;
btScalar m_value;
Constraint(const btSoftBody::RContact& rcontact)
: m_contact(&rcontact)
, m_direction(rcontact.m_cti.m_normal)
, m_value(0)
{
}
Constraint(const btVector3 dir)
: m_contact(nullptr)
, m_direction(dir)
, m_value(0)
{}
Constraint()
: m_contact(nullptr)
{
}
};
class btCGProjection
{
public:
@@ -21,11 +49,11 @@ public:
btAlignedObjectArray<btSoftBody *> m_softBodies;
btDeformableRigidDynamicsWorld* m_world;
std::unordered_map<btSoftBody::Node *, size_t> m_indices;
TVArrayStack m_constrainedDirections;
TArrayStack m_constrainedValues;
btAlignedObjectArray<int> m_constrainedId;
// TVArrayStack m_constrainedDirections;
// TArrayStack m_constrainedValues;
// btAlignedObjectArray<int> m_constrainedId;
const btScalar& m_dt;
std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<Constraint> > m_constraints;
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
: m_softBodies(softBodies)
@@ -51,14 +79,15 @@ public:
updateId();
// resize and clear the old constraints
m_constrainedValues.resize(m_indices.size());
m_constrainedDirections.resize(m_indices.size());
for (int i = 0; i < m_constrainedDirections.size(); ++i)
{
m_constrainedDirections[i].clear();
m_constrainedValues[i].clear();
}
m_constrainedId.clear();
// m_constrainedValues.resize(m_indices.size());
// m_constrainedDirections.resize(m_indices.size());
// for (int i = 0; i < m_constrainedDirections.size(); ++i)
// {
// m_constrainedDirections[i].clear();
// m_constrainedValues[i].clear();
// }
// m_constrainedId.clear();
m_constraints.clear();
}
void updateId()