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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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4
src/BulletSoftBody/btDeformableBodySolver.h
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@@ -63,7 +63,7 @@ public:
virtual void solveDeformableConstraints(btScalar solverdt);
void solveContactConstraints();
btScalar solveContactConstraints();
virtual void solveConstraints(float dt){}
@@ -81,7 +81,7 @@ public:
void computeStep(TVStack& dv, const TVStack& residual);
virtual void predictMotion(btScalar solverdt);
virtual void predictMotion(float solverdt);
virtual void copySoftBodyToVertexBuffer(const btSoftBody *const softBody, btVertexBufferDescriptor *vertexBuffer) {}