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deformable code refactor

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This commit is contained in:
Xuchen Han
2019-07-21 18:32:54 -07:00
parent dc10336d45
commit a90cad2a96
17 changed files with 1065 additions and 382 deletions
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13
src/BulletSoftBody/btSoftBody.cpp
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@@ -1782,7 +1782,7 @@ void btSoftBody::predictMotion(btScalar dt)
m_sst.radmrg = getCollisionShape()->getMargin();
m_sst.updmrg = m_sst.radmrg * (btScalar)0.25;
/* Forces */
addVelocity(m_worldInfo->m_gravity * m_sst.sdt);
// addVelocity(m_worldInfo->m_gravity * m_sst.sdt);
applyForces();
/* Integrate */
for (i = 0, ni = m_nodes.size(); i < ni; ++i)
@@ -1806,7 +1806,7 @@ void btSoftBody::predictMotion(btScalar dt)
}
}
n.m_v += deltaV;
n.m_x += n.m_v * m_sst.sdt;
n.m_x += n.m_v * m_sst.sdt;
n.m_f = btVector3(0, 0, 0);
}
/* Clusters */
@@ -2270,10 +2270,11 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap,
{
btVector3 nrm;
const btCollisionShape* shp = colObjWrap->getCollisionShape();
// const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject());
//const btTransform &wtr = tmpRigid ? tmpRigid->getWorldTransform() : colObjWrap->getWorldTransform();
const btTransform& wtr = colObjWrap->getWorldTransform();
//todo: check which transform is needed here
const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject());
// get the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg
const btTransform &wtr = tmpRigid ? tmpRigid->getInterpolationWorldTransform() : colObjWrap->getWorldTransform();
// TODO: get the correct transform for multibody
btScalar dst =
m_worldInfo->m_sparsesdf.Evaluate(