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bug fix in projection; start friction

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This commit is contained in:
Xuchen Han
2019-07-12 10:03:38 -07:00
parent 4e5f4b9fe9
commit 696c96f392
6 changed files with 75 additions and 30 deletions
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29
src/BulletSoftBody/btCGProjection.h
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@@ -15,7 +15,7 @@ class btDeformableRigidDynamicsWorld;
struct Constraint
{
const btSoftBody::RContact* m_contact;
const btVector3 m_direction;
btVector3 m_direction;
btScalar m_value;
Constraint(const btSoftBody::RContact& rcontact)
@@ -36,7 +36,17 @@ struct Constraint
{
}
};
struct Friction
{
btVector3 m_dv;
btVector3 m_direction;
Friction()
{
m_dv.setZero();
m_direction.setZero();
}
};
class btCGProjection
@@ -49,11 +59,9 @@ 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;
const btScalar& m_dt;
std::unordered_map<btSoftBody::Node *, btAlignedObjectArray<Constraint> > m_constraints;
std::unordered_map<btSoftBody::Node *, Friction > m_frictions;
btCGProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
: m_softBodies(softBodies)
@@ -77,17 +85,8 @@ public:
{
if (nodeUpdated)
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_constraints.clear();
m_frictions.clear();
}
void updateId()