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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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10
src/BulletSoftBody/btSoftBody.h
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@@ -974,12 +974,14 @@ public:
/* Return the volume */
btScalar getVolume() const;
/* Cluster count */
btVector3 getCenterOfMass() const{
btVector3 getCenterOfMass() const
{
btVector3 com(0, 0, 0);
for(int i = 0; i<m_nodes.size(); i++){
com += m_nodes[i].m_x;
for (int i = 0; i < m_nodes.size(); i++)
{
com += (m_nodes[i].m_x / m_nodes[i].m_im);
}
com/=m_nodes.size();
com /= this->getTotalMass();
return com;
}
int clusterCount() const;