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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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26
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -89,20 +89,20 @@ void btDeformableBodySolver::postStabilize()
c.m_node->m_x -= dp * cti.m_normal * c.m_c4;
////
// if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
// {
// if (rigidCol)
// rigidCol->applyImpulse(impulse, c.m_c1);
// }
// if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
// {
// if (rigidCol)
// rigidCol->applyImpulse(impulse, c.m_c1);
// }
// else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
// {
// if (multibodyLinkCol)
// {
// double multiplier = 0.5;
// multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier);
// }
// }
}
// else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
// {
// if (multibodyLinkCol)
// {
// double multiplier = 0.5;
// multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV, -impulse.length() * multiplier);
// }
// }
}
}
}