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move erp for deformable into a separate parameter

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This commit is contained in:
Xuchen Han
2019-11-07 12:13:51 -08:00
parent e66982d658
commit baa9dcdf08
3 changed files with 6 additions and 4 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
getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.03;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.03;
#else
getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.0;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.0;
#endif
// 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_erp; //error reduction for non-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_frictionERP; //error reduction for friction constraints
btScalar m_frictionCFM; //constraint force mixing for friction constraints
@@ -81,6 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_numIterations = 10;
m_erp = btScalar(0.2);
m_erp2 = btScalar(0.2);
m_deformable_erp = btScalar(0.);
m_globalCfm = btScalar(0.);
m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
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);
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)
{
btDeformableContactConstraint* constraint = m_allFaceConstraints[index];
constraint->setPenetrationScale(infoGlobal.m_erp);
constraint->setPenetrationScale(infoGlobal.m_deformable_erp);
}
}