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refactor contact solve

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This commit is contained in:
Xuchen Han
2019-08-23 13:41:14 -07:00
parent ccd8c3a47c
commit 6beeac7065
18 changed files with 597 additions and 309 deletions
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6
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -118,8 +118,9 @@ void DeformableMultibody::initPhysics()
m_broadphase = new btDbvtBroadphase();
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
btMultiBodyConstraintSolver* sol;
sol = new btMultiBodyConstraintSolver;
btDeformableMultiBodyConstraintSolver* sol;
sol = new btDeformableMultiBodyConstraintSolver;
sol->setDeformableSolver(deformableBodySolver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
@@ -223,6 +224,7 @@ void DeformableMultibody::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = .1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->setCollisionFlags(0);
getDeformableDynamicsWorld()->addSoftBody(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false);