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add support for anchor constraint between deformable and rigid

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Xuchen Han
2019-10-16 19:23:01 -07:00
parent 3d622a3bee
commit 60dfe1fe69
11 changed files with 487 additions and 2 deletions
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src/BulletSoftBody/btDeformableContactProjection.h
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@@ -36,6 +36,8 @@ public:
btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceRigidContactConstraint*> > m_faceRigidConstraints;
// map from node index to deformable constraint
btHashMap<btHashInt, btAlignedObjectArray<btDeformableFaceNodeContactConstraint*> > m_deformableConstraints;
// map from node index to node anchor constraint
btHashMap<btHashInt, btDeformableNodeAnchorConstraint> m_nodeAnchorConstraints;
// all constraints involving face
btAlignedObjectArray<btDeformableContactConstraint*> m_allFaceConstraints;