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fix bugs in poststablize and projection of colinear constraints

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This commit is contained in:
Xuchen Han
2019-07-15 10:48:20 -07:00
parent ac628f4d39
commit bac7d461c5
5 changed files with 89 additions and 69 deletions
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31
src/BulletSoftBody/btContactProjection.cpp
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@@ -11,6 +11,7 @@
void btContactProjection::update(const TVStack& dv, const TVStack& backupVelocity)
{
///solve rigid body constraints
m_world->getSolverInfo().m_numIterations = 5;
m_world->btMultiBodyDynamicsWorld::solveConstraints(m_world->getSolverInfo());
// loop through constraints to set constrained values
@@ -258,21 +259,21 @@ void btContactProjection::setConstraintDirections()
}
else
{
// prune out collinear constraints
const btVector3& first_dir = c[0].m_direction;
int i = 1;
while (i < c.size())
{
if (std::abs(std::abs(first_dir.dot(c[i].m_direction)) - 1) < 4*SIMD_EPSILON)
c.removeAtIndex(i);
else
++i;
}
if (c.size() == 3)
{
if (std::abs(std::abs(c[1].m_direction.dot(c[2].m_direction)) - 1) < 4*SIMD_EPSILON)
c.removeAtIndex(2);
}
// // prune out collinear constraints
// const btVector3& first_dir = c[0].m_direction;
// int i = 1;
// while (i < c.size())
// {
// if (std::abs(std::abs(first_dir.dot(c[i].m_direction)) - 1) < 4*SIMD_EPSILON)
// c.removeAtIndex(i);
// else
// ++i;
// }
// if (c.size() == 3)
// {
// if (std::abs(std::abs(c[1].m_direction.dot(c[2].m_direction)) - 1) < 4*SIMD_EPSILON)
// c.removeAtIndex(2);
// }
}
}
}