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compute COM taking non-uniform model into account

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Chuyuan Fu
2019-10-25 12:14:38 -07:00
committed by Xuchen Han
parent 74571d79e7
commit ae7c3e0dee
1 changed files with 10 additions and 8 deletions
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18
src/BulletSoftBody/btSoftBody.h
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@@ -974,14 +974,16 @@ public:
/* Return the volume */ /* Return the volume */
btScalar getVolume() const; btScalar getVolume() const;
/* Cluster count */ /* Cluster count */
btVector3 getCenterOfMass() const{ btVector3 getCenterOfMass() const
btVector3 com(0,0,0); {
for(int i = 0; i<m_nodes.size(); i++){ btVector3 com(0, 0, 0);
com += m_nodes[i].m_x; for (int i = 0; i < m_nodes.size(); i++)
} {
com/=m_nodes.size(); com += (m_nodes[i].m_x / m_nodes[i].m_im);
return com; }
} com /= this->getTotalMass();
return com;
}
int clusterCount() const; int clusterCount() const;
/* Cluster center of mass */ /* Cluster center of mass */
static btVector3 clusterCom(const Cluster* cluster); static btVector3 clusterCom(const Cluster* cluster);