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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/btDeformableMultiBodyDynamicsWorld.h
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@@ -47,6 +47,7 @@ class btDeformableMultiBodyDynamicsWorld : public btMultiBodyDynamicsWorld
btSoftBodyWorldInfo m_sbi;
btScalar m_internalTime;
int m_contact_iterations;
bool m_implicit;
typedef void (*btSolverCallback)(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
btSolverCallback m_solverCallback;
@@ -72,7 +73,7 @@ public:
m_sbi.m_broadphase = pairCache;
m_sbi.m_dispatcher = dispatcher;
m_sbi.m_sparsesdf.Initialize();
m_sbi.m_sparsesdf.setDefaultVoxelsz(0.025);
m_sbi.m_sparsesdf.setDefaultVoxelsz(0.0025);
m_sbi.m_sparsesdf.Reset();
m_sbi.air_density = (btScalar)1.2;
@@ -81,6 +82,7 @@ public:
m_sbi.water_normal = btVector3(0, 0, 0);
m_sbi.m_gravity.setValue(0, -10, 0);
m_internalTime = 0.0;
m_implicit = false;
}
void setSolverCallback(btSolverCallback cb)
@@ -153,6 +155,11 @@ public:
void solveMultiBodyRelatedConstraints();
void sortConstraints();
void setImplicit(bool implicit)
{
m_implicit = implicit;
}
};
#endif //BT_DEFORMABLE_RIGID_DYNAMICS_WORLD_H