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reorganize the contact constraints

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This commit is contained in:
Xuchen Han
2019-07-15 14:52:24 -07:00
parent bac7d461c5
commit befab4eab6
3 changed files with 151 additions and 183 deletions
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32
src/BulletSoftBody/btCGProjection.h
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@@ -14,37 +14,41 @@ class btDeformableRigidDynamicsWorld;
struct Constraint
{
const btSoftBody::RContact* m_contact;
btVector3 m_direction;
btScalar m_value;
btAlignedObjectArray<const btSoftBody::RContact*> m_contact;
btAlignedObjectArray<btVector3> m_direction;
btAlignedObjectArray<btScalar> m_value;
Constraint(const btSoftBody::RContact& rcontact)
: m_contact(&rcontact)
, m_direction(rcontact.m_cti.m_normal)
, m_value(0)
{
m_contact.push_back(&rcontact);
m_direction.push_back(rcontact.m_cti.m_normal);
m_value.push_back(0);
}
Constraint(const btVector3 dir)
: m_contact(nullptr)
, m_direction(dir)
, m_value(0)
{}
{
m_contact.push_back(nullptr);
m_direction.push_back(dir);
m_value.push_back(0);
}
Constraint()
: m_contact(nullptr)
{
}
};
struct Friction
{
btVector3 m_dv;
bool m_static;
btScalar m_value;
btVector3 m_direction;
bool m_static_prev;
btScalar m_value_prev;
btVector3 m_direction_prev;
Friction()
{
m_dv.setZero();
m_direction_prev.setZero();
m_direction.setZero();
}
};