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

add strain rate limiting

Browse Source
This commit is contained in:
Xuchen Han
2019-12-31 14:04:18 -08:00
parent 79c1343b6a
commit d7442cee21
10 changed files with 116 additions and 79 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/BulletSoftBody/btDeformableContactProjection.cpp
View File

@@ -108,7 +108,7 @@ btScalar btDeformableContactProjection::solveSplitImpulse(const btContactSolverI
return residualSquare;
}
void btDeformableContactProjection::setConstraints()
void btDeformableContactProjection::setConstraints(const btContactSolverInfo& infoGlobal)
{
BT_PROFILE("setConstraints");
for (int i = 0; i < m_softBodies.size(); ++i)
@@ -124,7 +124,7 @@ void btDeformableContactProjection::setConstraints()
{
if (psb->m_nodes[j].m_im == 0)
{
btDeformableStaticConstraint static_constraint(&psb->m_nodes[j]);
btDeformableStaticConstraint static_constraint(&psb->m_nodes[j], infoGlobal);
m_staticConstraints[i].push_back(static_constraint);
}
}
@@ -139,7 +139,7 @@ void btDeformableContactProjection::setConstraints()
continue;
}
anchor.m_c1 = anchor.m_cti.m_colObj->getWorldTransform().getBasis() * anchor.m_local;
btDeformableNodeAnchorConstraint constraint(anchor);
btDeformableNodeAnchorConstraint constraint(anchor, infoGlobal);
m_nodeAnchorConstraints[i].push_back(constraint);
}
@@ -152,7 +152,7 @@ void btDeformableContactProjection::setConstraints()
{
continue;
}
btDeformableNodeRigidContactConstraint constraint(contact);
btDeformableNodeRigidContactConstraint constraint(contact, infoGlobal);
btVector3 va = constraint.getVa();
btVector3 vb = constraint.getVb();
const btVector3 vr = vb - va;
@@ -173,7 +173,7 @@ void btDeformableContactProjection::setConstraints()
{
continue;
}
btDeformableFaceRigidContactConstraint constraint(contact);
btDeformableFaceRigidContactConstraint constraint(contact, infoGlobal);
btVector3 va = constraint.getVa();
btVector3 vb = constraint.getVb();
const btVector3 vr = vb - va;
@@ -190,7 +190,7 @@ void btDeformableContactProjection::setConstraints()
{
const btSoftBody::DeformableFaceNodeContact& contact = psb->m_faceNodeContacts[j];
btDeformableFaceNodeContactConstraint constraint(contact);
btDeformableFaceNodeContactConstraint constraint(contact, infoGlobal);
btVector3 va = constraint.getVa();
btVector3 vb = constraint.getVb();
const btVector3 vr = vb - va;