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add damping energy in line search

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This commit is contained in:
Xuchen Han
2019-09-17 14:58:16 -07:00
parent 3dcfcda19a
commit ae42cc561e
15 changed files with 128 additions and 74 deletions
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11
src/BulletSoftBody/btDeformableContactProjection.h
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@@ -22,9 +22,14 @@
#include "btDeformableContactConstraint.h"
#include "LinearMath/btHashMap.h"
#include <vector>
class btDeformableContactProjection : public btCGProjection
class btDeformableContactProjection
{
public:
typedef btAlignedObjectArray<btVector3> TVStack;
typedef btAlignedObjectArray<btAlignedObjectArray<btVector3> > TVArrayStack;
typedef btAlignedObjectArray<btAlignedObjectArray<btScalar> > TArrayStack;
btAlignedObjectArray<btSoftBody *>& m_softBodies;
// map from node index to static constraint
btHashMap<btHashInt, btDeformableStaticConstraint> m_staticConstraints;
// map from node index to node rigid constraint
@@ -40,8 +45,8 @@ public:
// map from node index to projection directions
btHashMap<btHashInt, btAlignedObjectArray<btVector3> > m_projectionsDict;
btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
: btCGProjection(softBodies, dt)
btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies)
: m_softBodies(softBodies)
{
}