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bug fix in momentum conserving damping model for mass spring; update default damping model to momentum conserving one

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This commit is contained in:
Xuchen Han
2019-08-19 11:28:41 -07:00
parent 6d4e93d3bf
commit 74adce7322
1 changed files with 3 additions and 3 deletions
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6
src/BulletSoftBody/btDeformableMassSpringForce.h
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@@ -27,7 +27,7 @@ public:
btDeformableMassSpringForce() : m_momentum_conserving(false), m_elasticStiffness(1), m_dampingStiffness(0.05) btDeformableMassSpringForce() : m_momentum_conserving(false), m_elasticStiffness(1), m_dampingStiffness(0.05)
{ {
} }
btDeformableMassSpringForce(btScalar k, btScalar d, bool conserve_angular = false) : m_momentum_conserving(conserve_angular), m_elasticStiffness(k), m_dampingStiffness(d) btDeformableMassSpringForce(btScalar k, btScalar d, bool conserve_angular = true) : m_momentum_conserving(conserve_angular), m_elasticStiffness(k), m_dampingStiffness(d)
{ {
} }
@@ -63,7 +63,7 @@ public:
{ {
if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON)
{ {
btVector3 dir = (node2->m_q - node1->m_q).normalized(); btVector3 dir = (node2->m_x - node1->m_x).normalized();
scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir; scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir;
} }
} }
@@ -120,7 +120,7 @@ public:
{ {
if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON) if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON)
{ {
btVector3 dir = (node2->m_q - node1->m_q).normalized(); btVector3 dir = (node2->m_x - node1->m_x).normalized();
local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir; local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir;
} }
} }