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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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7
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -74,12 +74,13 @@ void btDeformableBodySolver::setConstraints()
m_objective->setConstraints();
}
void btDeformableBodySolver::solveContactConstraints()
btScalar btDeformableBodySolver::solveContactConstraints()
{
BT_PROFILE("setConstraint");
m_objective->projection.update();
btScalar maxSquaredResidual = m_objective->projection.update();
m_objective->enforceConstraint(m_dv);
m_objective->updateVelocity(m_dv);
return maxSquaredResidual;
}
@@ -142,7 +143,7 @@ bool btDeformableBodySolver::updateNodes()
}
void btDeformableBodySolver::predictMotion(btScalar solverdt)
void btDeformableBodySolver::predictMotion(float solverdt)
{
for (int i = 0; i < m_softBodySet.size(); ++i)
{