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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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15
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -53,6 +53,14 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
// btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::internalSingleStepSimulation(timeStep);
// incorporate gravity into velocity and clear force
for (int i = 0; i < m_nonStaticRigidBodies.size(); ++i)
{
btRigidBody* rb = m_nonStaticRigidBodies[i];
rb->integrateVelocities(timeStep);
}
clearForces();
///solve deformable bodies constraints
solveDeformableBodiesConstraints(timeStep);
@@ -67,12 +75,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
///update soft bodies
m_deformableBodySolver->updateSoftBodies();
for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
{
btRigidBody* body = m_nonStaticRigidBodies[i];
std::cout << "rb v = " << body->getLinearVelocity().getY() << std::endl;
}
// End solver-wise simulation step
// ///////////////////////////////
}