Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

switch to Baraff style constraint

Browse Source
This commit is contained in:
Xuchen Han
2019-08-09 13:39:25 -07:00
parent 27492887bf
commit 5b8df6a708
5 changed files with 98 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
src/BulletSoftBody/btDeformableBodySolver.cpp
View File

@@ -31,20 +31,20 @@ btDeformableBodySolver::~btDeformableBodySolver()
void btDeformableBodySolver::solveConstraints(float solverdt)
{
BT_PROFILE("solveConstraints");
// add constraints to the solver
setConstraints();
// save v_{n+1}^* velocity after explicit forces
backupVelocity();
// add constraints to the solver
setConstraints();
m_objective->computeResidual(solverdt, m_residual);
computeStep(m_dv, m_residual);
updateVelocity();
}
void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual)
{
btScalar tolerance = std::numeric_limits<float>::epsilon()* 1024 * m_objective->computeNorm(residual);
m_cg.solve(*m_objective, dv, residual, tolerance);
}
@@ -75,6 +75,12 @@ void btDeformableBodySolver::setConstraints()
{
BT_PROFILE("setConstraint");
m_objective->setConstraints();
for (int i = 0; i < 10; ++i)
{
m_objective->projection.update();
m_objective->enforceConstraint(m_dv);
m_objective->updateVelocity(m_dv);
}
}
void btDeformableBodySolver::setWorld(btDeformableRigidDynamicsWorld* world)