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add Rayleigh damping for NeoHookean

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This commit is contained in:
Xuchen Han
2019-08-29 10:29:56 -07:00
parent e124c62a70
commit ca3e25d4e2
2 changed files with 91 additions and 5 deletions
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11
src/BulletSoftBody/btDeformableLagrangianForce.h
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@@ -93,6 +93,17 @@ public:
return dF;
}
virtual btMatrix3x3 DsFromVelocity(const btSoftBody::Node* n0, const btSoftBody::Node* n1, const btSoftBody::Node* n2, const btSoftBody::Node* n3)
{
btVector3 c1 = n1->m_v - n0->m_v;
btVector3 c2 = n2->m_v - n0->m_v;
btVector3 c3 = n3->m_v - n0->m_v;
btMatrix3x3 dF(c1.getX(), c2.getX(), c3.getX(),
c1.getY(), c2.getY(), c3.getY(),
c1.getZ(), c2.getZ(), c3.getZ());
return dF;
}
virtual void testDerivative()
{
for (int i = 0; i<m_softBodies.size();++i)