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prevent velocity of deformable from getting too big from explicit force

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This commit is contained in:
Xuchen Han
2019-10-10 14:26:44 -07:00
parent 45c4497711
commit 87546bb7c3
2 changed files with 70 additions and 27 deletions
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15
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -372,15 +372,26 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
psb->m_sst.velmrg = psb->m_sst.sdt * 3;
psb->m_sst.radmrg = psb->getCollisionShape()->getMargin();
psb->m_sst.updmrg = psb->m_sst.radmrg * (btScalar)0.25;
/* Bounds */
psb->updateBounds();
/* Integrate */
// do not allow particles to move more than 10% of the bounding box size
btScalar max_v = 0.1 * (psb->m_bounds[1]-psb->m_bounds[0]).norm() / dt;
for (i = 0, ni = psb->m_nodes.size(); i < ni; ++i)
{
btSoftBody::Node& n = psb->m_nodes[i];
// apply drag
n.m_v *= (1 - psb->m_cfg.drag);
// scale velocity back
if (n.m_v.norm() > max_v)
{
n.m_v.safeNormalize();
n.m_v *= max_v;
}
n.m_q = n.m_x + n.m_v * dt;
}
/* Bounds */
psb->updateBounds();
/* Nodes */
ATTRIBUTE_ALIGNED16(btDbvtVolume)
vol;