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documentation and optimization

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This commit is contained in:
Xuchen Han
2019-09-20 13:54:17 -07:00
parent 20abbc9ee7
commit 657a7468b3
11 changed files with 162 additions and 110 deletions
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6
src/BulletSoftBody/btDeformableContactProjection.h
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@@ -26,8 +26,6 @@ class btDeformableContactProjection
{
public:
typedef btAlignedObjectArray<btVector3> TVStack;
typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
btAlignedObjectArray<btSoftBody *>& m_softBodies;
// map from node index to static constraint
@@ -54,10 +52,10 @@ public:
{
}
// apply the constraints to the rhs
// apply the constraints to the rhs of the linear solve
virtual void project(TVStack& x);
// add to friction
// add friction force to the rhs of the linear solve
virtual void applyDynamicFriction(TVStack& f);
// update the constraints