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fix scope override in btMultiBody and scalar type inconsistency in btDeformableBodySolver

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Xuchen Han
2019-08-22 10:12:14 -07:00
parent 3fbd7a7edd
commit ccd8c3a47c
3 changed files with 7 additions and 11 deletions
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8
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -1707,9 +1707,9 @@ void btMultiBody::predictPositionsMultiDof(btScalar dt)
{ {
//reset to current pos //reset to current pos
for (int i = 0; i < 4; ++i) for (int j = 0; j < 4; ++j)
{ {
pJointPos[i] = m_links[i].m_jointPos[i]; pJointPos[j] = m_links[i].m_jointPos[j];
} }
btVector3 jointVel; btVector3 jointVel;
@@ -1725,9 +1725,9 @@ void btMultiBody::predictPositionsMultiDof(btScalar dt)
} }
case btMultibodyLink::ePlanar: case btMultibodyLink::ePlanar:
{ {
for (int i = 0; i < 3; ++i) for (int j = 0; j < 3; ++j)
{ {
pJointPos[i] = m_links[i].m_jointPos[i]; pJointPos[j] = m_links[i].m_jointPos[j];
} }
pJointPos[0] += dt * getJointVelMultiDof(i)[0]; pJointPos[0] += dt * getJointVelMultiDof(i)[0];

9
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -30,14 +30,9 @@ btDeformableBodySolver::~btDeformableBodySolver()
delete m_objective; delete m_objective;
} }
void btDeformableBodySolver::solveDeformableConstraints(float solverdt) void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
{ {
BT_PROFILE("solveConstraints"); BT_PROFILE("solveConstraints");
// save v_{n+1}^* velocity after explicit forces
// backupVelocity();
// add constraints to the solver
// setConstraints();
m_objective->computeResidual(solverdt, m_residual); m_objective->computeResidual(solverdt, m_residual);
m_objective->applyDynamicFriction(m_residual); m_objective->applyDynamicFriction(m_residual);
computeStep(m_dv, m_residual); computeStep(m_dv, m_residual);
@@ -147,7 +142,7 @@ bool btDeformableBodySolver::updateNodes()
} }
void btDeformableBodySolver::predictMotion(float solverdt) void btDeformableBodySolver::predictMotion(btScalar solverdt)
{ {
for (int i = 0; i < m_softBodySet.size(); ++i) for (int i = 0; i < m_softBodySet.size(); ++i)
{ {

1
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -196,6 +196,7 @@ void btDeformableMultiBodyDynamicsWorld::solveMultiBodyConstraints()
btMultiBodyDynamicsWorld::processConstraintsAndDeltaVee(); btMultiBodyDynamicsWorld::processConstraintsAndDeltaVee();
m_deformableBodySolver->solveContactConstraints(); m_deformableBodySolver->solveContactConstraints();
} }
// todo @xuchenhan: add joint force feedback
} }
void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask) void btDeformableMultiBodyDynamicsWorld::addSoftBody(btSoftBody* body, int collisionFilterGroup, int collisionFilterMask)