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add gripper with deformable cloth demo

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This commit is contained in:
Xuchen Han
2019-12-13 14:33:54 -08:00
parent 08321b96ba
commit d38ea87027
6 changed files with 239 additions and 5 deletions
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24
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@@ -22,8 +22,32 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration
{
///this is a special step to resolve penetrations (just for contacts)
solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
//
// int maxMotorIterations = 150;
// for (int iteration = 0; iteration < maxMotorIterations; ++iteration)
// {
// btScalar motorResidual = 0;
// for (int j = 0; j < m_multiBodyNonContactConstraints.size(); j++)
// {
// int index = iteration & 1 ? j : m_multiBodyNonContactConstraints.size() - 1 - j;
//
// btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index];
//
// btScalar residual = resolveSingleConstraintRowGeneric(constraint);
// motorResidual = btMax(motorResidual, residual * residual);
// if (constraint.m_multiBodyA)
// constraint.m_multiBodyA->setPosUpdated(false);
// if (constraint.m_multiBodyB)
// constraint.m_multiBodyB->setPosUpdated(false);
// }
// if (motorResidual < infoGlobal.m_leastSquaresResidualThreshold)
// {
// break;
// }
// }
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
maxIterations = 500;
for (int iteration = 0; iteration < maxIterations; iteration++)
{
// rigid bodies are solved using solver body velocity, but rigid/deformable contact directly uses the velocity of the actual rigid body. So we have to do the following: Solve one iteration of the rigid/rigid contact, get the updated velocity in the solver body and update the velocity of the underlying rigid body. Then solve the rigid/deformable contact. Finally, grab the (once again) updated rigid velocity and update the velocity of the wrapping solver body