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add newton solver

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This commit is contained in:
Xuchen Han
2019-08-27 20:54:40 -07:00
parent c722630fc7
commit d4a15e016e
12 changed files with 566 additions and 62 deletions
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9
src/BulletSoftBody/btDeformableBackwardEulerObjective.h
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@@ -37,6 +37,8 @@ public:
btDeformableContactProjection projection;
const TVStack& m_backupVelocity;
btAlignedObjectArray<btSoftBody::Node* > m_nodes;
bool m_implicit;
btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v);
virtual ~btDeformableBackwardEulerObjective();
@@ -44,7 +46,7 @@ public:
void initialize(){}
// compute the rhs for CG solve, i.e, add the dt scaled implicit force to residual
void computeResidual(btScalar dt, TVStack& residual) const;
void computeResidual(btScalar dt, TVStack& residual);
// add explicit force to the velocity
void applyExplicitForce(TVStack& force);
@@ -117,6 +119,11 @@ public:
{
return &m_nodes;
}
void setImplicit(bool implicit)
{
m_implicit = implicit;
}
};
#endif /* btBackwardEulerObjective_h */