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

add some documentation

Browse Source
This commit is contained in:
Xuchen Han
2019-09-17 15:55:15 -07:00
parent ae42cc561e
commit d761b2cd68
14 changed files with 95 additions and 78 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
View File

@@ -27,10 +27,17 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
for (int iteration = 0; iteration < maxIterations; iteration++)
{
m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
// 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
// solve rigid/rigid in solver body
m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
// solver body velocity -> rigid body velocity
solverBodyWriteBack(infoGlobal);
// update rigid body velocity in rigid/deformable contact
m_leastSquaresResidual = btMax(m_leastSquaresResidual, m_deformableSolver->solveContactConstraints());
// solver body velocity <- rigid body velocity
writeToSolverBody(bodies, numBodies, infoGlobal);
if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))