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update contact projection

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This commit is contained in:
Xuchen Han
2019-07-06 20:55:41 -07:00
parent 35ce2ae0e2
commit b8997c36b2
5 changed files with 37 additions and 7 deletions
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9
src/BulletSoftBody/btDeformableRigidDynamicsWorld.cpp
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@@ -26,7 +26,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
}
///apply gravity, predict motion
btDiscreteDynamicsWorld::predictUnconstraintMotion(timeStep);
predictUnconstraintMotion(timeStep);
btDispatcherInfo& dispatchInfo = btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::getDispatchInfo();
@@ -56,7 +56,7 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
///solve deformable bodies constraints
solveDeformableBodiesConstraints(timeStep);
predictUnconstraintMotion(timeStep);
// predictUnconstraintMotion(timeStep);
//integrate transforms
btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::integrateTransforms(timeStep);
@@ -68,6 +68,11 @@ void btDeformableRigidDynamicsWorld::internalSingleStepSimulation(btScalar timeS
///update soft bodies
m_deformableBodySolver->updateSoftBodies();
for (int i = 0; i < m_nonStaticRigidBodies.size(); i++)
{
btRigidBody* body = m_nonStaticRigidBodies[i];
std::cout << "rb v = " << body->getLinearVelocity().getY() << std::endl;
}
// End solver-wise simulation step
// ///////////////////////////////
}