Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #2467 from xhan0619/split-impulse

Browse Source 
Split impulse
This commit is contained in:
erwincoumans
2019-11-06 14:23:26 -08:00
committed by GitHub
parent 2f9d7be172 b55ebac2d9
commit d6dbc9d3ca
19 changed files with 915 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
src/BulletSoftBody/btDeformableBodySolver.cpp
View File

@@ -36,7 +36,7 @@ btDeformableBodySolver::~btDeformableBodySolver()
void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
{
BT_PROFILE("solveConstraints");
BT_PROFILE("solveDeformableConstraints");
if (!m_implicit)
{
m_objective->computeResidual(solverdt, m_residual);
@@ -241,6 +241,16 @@ btScalar btDeformableBodySolver::solveContactConstraints()
return maxSquaredResidual;
}
btScalar btDeformableBodySolver::solveSplitImpulse(const btContactSolverInfo& infoGlobal)
{
BT_PROFILE("solveSplitImpulse");
return m_objective->m_projection.solveSplitImpulse(infoGlobal);
}
void btDeformableBodySolver::splitImpulseSetup(const btContactSolverInfo& infoGlobal)
{
m_objective->m_projection.splitImpulseSetup(infoGlobal);
}
void btDeformableBodySolver::updateVelocity()
{
@@ -324,7 +334,7 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit)
}
else
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
psb->m_nodes[j].m_v = m_backupVelocity[counter];
psb->m_nodes[j].m_v = m_backupVelocity[counter] + psb->m_nodes[j].m_vsplit;
++counter;
}
}