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This commit is contained in:
Xuchen Han
2019-08-28 10:01:14 -07:00
parent 5826492020
commit 7d1b93cc17
9 changed files with 63 additions and 38 deletions
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19
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -67,7 +67,7 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
{
break;
}
// m_objective->applyDynamicFriction(m_residual);
m_objective->applyDynamicFriction(m_residual);
computeStep(m_ddv, m_residual);
updateDv();
for (int j = 0; j < m_numNodes; ++j)
@@ -189,6 +189,20 @@ void btDeformableBodySolver::backupVelocity()
}
}
void btDeformableBodySolver::backupVn()
{
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_dv[counter] += m_backupVelocity[counter] - psb->m_nodes[j].m_vn;
m_backupVelocity[counter++] = psb->m_nodes[j].m_vn;
}
}
}
void btDeformableBodySolver::revertVelocity()
{
int counter = 0;
@@ -246,8 +260,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i)
{
btSoftBody::Node& n = psb->m_nodes[i];
n.m_q = n.m_x;
n.m_q += n.m_v * dt;
n.m_q = n.m_x + n.m_v * dt;
}
/* Bounds */
psb->updateBounds();