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use safenorm

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This commit is contained in:
Xuchen Han
2019-10-23 11:05:59 -07:00
parent ec1ef0c465
commit 9ebbab959c
1 changed files with 5 additions and 8 deletions
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13
src/BulletSoftBody/btDeformableContactConstraint.cpp
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@@ -14,7 +14,6 @@
*/ */
#include "btDeformableContactConstraint.h" #include "btDeformableContactConstraint.h"
/* ================ Deformable Node Anchor =================== */ /* ================ Deformable Node Anchor =================== */
btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a) btDeformableNodeAnchorConstraint::btDeformableNodeAnchorConstraint(const btSoftBody::DeformableNodeRigidAnchor& a)
: m_anchor(&a) : m_anchor(&a)
@@ -216,12 +215,11 @@ btScalar btDeformableRigidContactConstraint::solveConstraint()
btVector3 impulse = m_contact->m_c0 * vr; btVector3 impulse = m_contact->m_c0 * vr;
const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn); const btVector3 impulse_normal = m_contact->m_c0 * (cti.m_normal * dn);
btVector3 impulse_tangent = impulse - impulse_normal; btVector3 impulse_tangent = impulse - impulse_normal;
btVector3 old_total_tangent_dv = m_total_tangent_dv; btVector3 old_total_tangent_dv = m_total_tangent_dv;
// m_c2 is the inverse mass of the deformable node/face // m_c2 is the inverse mass of the deformable node/face
m_total_normal_dv -= impulse_normal * m_contact->m_c2; m_total_normal_dv -= impulse_normal * m_contact->m_c2;
m_total_tangent_dv -= impulse_tangent * m_contact->m_c2; m_total_tangent_dv -= impulse_tangent * m_contact->m_c2;
if (m_total_normal_dv.dot(cti.m_normal) < 0) if (m_total_normal_dv.dot(cti.m_normal) < 0)
{ {
// separating in the normal direction // separating in the normal direction
@@ -236,13 +234,13 @@ btScalar btDeformableRigidContactConstraint::solveConstraint()
// dynamic friction // dynamic friction
// with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations.
m_static = false; m_static = false;
if (m_total_tangent_dv.norm() < SIMD_EPSILON) if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON)
{ {
m_total_tangent_dv = btVector3(0,0,0); m_total_tangent_dv = btVector3(0,0,0);
} }
else else
{ {
m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.norm() * m_contact->m_c3; m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_c3;
} }
impulse_tangent = -btScalar(1)/m_contact->m_c2 * (m_total_tangent_dv - old_total_tangent_dv); impulse_tangent = -btScalar(1)/m_contact->m_c2 * (m_total_tangent_dv - old_total_tangent_dv);
} }
@@ -255,7 +253,6 @@ btScalar btDeformableRigidContactConstraint::solveConstraint()
impulse = impulse_normal + impulse_tangent; impulse = impulse_normal + impulse_tangent;
// apply impulse to deformable nodes involved and change their velocities // apply impulse to deformable nodes involved and change their velocities
applyImpulse(impulse); applyImpulse(impulse);
// apply impulse to the rigid/multibodies involved and change their velocities // apply impulse to the rigid/multibodies involved and change their velocities
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{ {
@@ -469,13 +466,13 @@ btScalar btDeformableFaceNodeContactConstraint::solveConstraint()
// dynamic friction // dynamic friction
// with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations. // with dynamic friction, the impulse are still applied to the two objects colliding, however, it does not pose a constraint in the cg solve, hence the change to dv merely serves to update velocity in the contact iterations.
m_static = false; m_static = false;
if (m_total_tangent_dv.norm() < SIMD_EPSILON) if (m_total_tangent_dv.safeNorm() < SIMD_EPSILON)
{ {
m_total_tangent_dv = btVector3(0,0,0); m_total_tangent_dv = btVector3(0,0,0);
} }
else else
{ {
m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.norm() * m_contact->m_friction; m_total_tangent_dv = m_total_tangent_dv.normalized() * m_total_normal_dv.safeNorm() * m_contact->m_friction;
} }
impulse_tangent = -btScalar(1)/m_node->m_im * (m_total_tangent_dv - old_total_tangent_dv); impulse_tangent = -btScalar(1)/m_node->m_im * (m_total_tangent_dv - old_total_tangent_dv);
} }