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fixed gravity issue in rigid body and deformable body contact solve

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This commit is contained in:
Xuchen Han
2019-07-07 14:31:19 -07:00
parent b8997c36b2
commit 786b0436ec
7 changed files with 72 additions and 121 deletions
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24
src/BulletSoftBody/btDeformableBodySolver.h
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@@ -82,13 +82,11 @@ public:
{
bool nodeUpdated = updateNodes();
reinitialize(nodeUpdated);
backupVelocity();
for (int i = 0; i < m_solveIterations; ++i)
{
// only need to advect x here if elastic force is implicit
// prepareSolve(solverdt);
m_objective.computeResidual(solverdt, m_residual);
moveTempVelocity(solverdt, m_residual);
m_objective.computeStep(m_dv, m_residual, solverdt);
updateVelocity();
@@ -116,7 +114,6 @@ public:
{
m_dv.resize(m_numNodes);
m_residual.resize(m_numNodes);
m_backupVelocity.resize(m_numNodes);
}
for (int i = 0; i < m_dv.size(); ++i)
@@ -150,11 +147,6 @@ public:
auto& node = psb->m_nodes[j];
// node.m_x += dt * m_dv[counter++];
node.m_x += dt * node.m_v;
if (j == 4)
{
std::cout << "x " << psb->m_nodes[j].m_x.getY() << std::endl;
std::cout << "v " << psb->m_nodes[j].m_v.getY() << std::endl;
}
}
}
}
@@ -168,27 +160,13 @@ public:
btSoftBody* psb = m_softBodySet[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter];
psb->m_nodes[j].m_v += m_dv[counter];
++counter;
}
}
}
void backupVelocity()
{
// serial implementation
int counter = 0;
for (int i = 0; i < m_softBodySet.size(); ++i)
{
btSoftBody* psb = m_softBodySet[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
m_backupVelocity[counter++] = psb->m_nodes[j].m_v;
}
}
}
bool updateNodes()
{
int numNodes = 0;