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Merge pull request #2475 from xhan0619/fix-issue-#2473

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Fix issue #2473
This commit is contained in:
erwincoumans
2019-11-08 20:45:05 -08:00
committed by GitHub
parent 886895e0bd 059e23d381
commit b25d806b14
4 changed files with 6 additions and 5 deletions
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4
examples/DeformableDemo/SplitImpulse.cpp
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@@ -162,9 +162,9 @@ void SplitImpulse::initPhysics()
} }
#ifdef USE_SPLIT_IMPULSE #ifdef USE_SPLIT_IMPULSE
getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.03; getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.03;
#else #else
getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.0; getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.0;
#endif #endif
// create a piece of cloth // create a piece of cloth

2
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -46,6 +46,7 @@ struct btContactSolverInfoData
btScalar m_sor; //successive over-relaxation term btScalar m_sor; //successive over-relaxation term
btScalar m_erp; //error reduction for non-contact constraints btScalar m_erp; //error reduction for non-contact constraints
btScalar m_erp2; //error reduction for contact constraints btScalar m_erp2; //error reduction for contact constraints
btScalar m_deformable_erp; //error reduction for deformable constraints
btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts
btScalar m_frictionERP; //error reduction for friction constraints btScalar m_frictionERP; //error reduction for friction constraints
btScalar m_frictionCFM; //constraint force mixing for friction constraints btScalar m_frictionCFM; //constraint force mixing for friction constraints
@@ -81,6 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_numIterations = 10; m_numIterations = 10;
m_erp = btScalar(0.2); m_erp = btScalar(0.2);
m_erp2 = btScalar(0.2); m_erp2 = btScalar(0.2);
m_deformable_erp = btScalar(0.);
m_globalCfm = btScalar(0.); m_globalCfm = btScalar(0.);
m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
m_frictionCFM = btScalar(0.); m_frictionCFM = btScalar(0.);

4
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -59,7 +59,7 @@ void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo&
btAlignedObjectArray<btDeformableNodeRigidContactConstraint>& constraints = *m_nodeRigidConstraints.getAtIndex(index); btAlignedObjectArray<btDeformableNodeRigidContactConstraint>& constraints = *m_nodeRigidConstraints.getAtIndex(index);
for (int i = 0; i < constraints.size(); ++i) for (int i = 0; i < constraints.size(); ++i)
{ {
constraints[i].setPenetrationScale(infoGlobal.m_erp); constraints[i].setPenetrationScale(infoGlobal.m_deformable_erp);
} }
} }
@@ -67,7 +67,7 @@ void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo&
for (int index = 0; index < m_allFaceConstraints.size(); ++index) for (int index = 0; index < m_allFaceConstraints.size(); ++index)
{ {
btDeformableContactConstraint* constraint = m_allFaceConstraints[index]; btDeformableContactConstraint* constraint = m_allFaceConstraints[index];
constraint->setPenetrationScale(infoGlobal.m_erp); constraint->setPenetrationScale(infoGlobal.m_deformable_erp);
} }
} }

1
src/BulletSoftBody/btSoftBody.cpp
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@@ -92,7 +92,6 @@ void btSoftBody::initDefaults()
m_cfg.drag = 0; m_cfg.drag = 0;
m_cfg.m_maxStress = 0; m_cfg.m_maxStress = 0;
m_cfg.collisions = fCollision::Default; m_cfg.collisions = fCollision::Default;
m_cfg.collisions |= fCollision::VF_DD;
m_pose.m_bvolume = false; m_pose.m_bvolume = false;
m_pose.m_bframe = false; m_pose.m_bframe = false;
m_pose.m_volume = 0; m_pose.m_volume = 0;