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add some documentation

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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
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12
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
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@@ -55,7 +55,7 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
beforeSolverCallbacks(timeStep);
///solve deformable bodies constraints
///solve contact constraints and then deformable bodies momemtum equation
solveConstraints(timeStep);
afterSolverCallbacks(timeStep);
@@ -193,7 +193,11 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
// set up constraints among multibodies and between multibodies and deformable bodies
setupConstraints();
solveMultiBodyRelatedConstraints();
// solve contact constraints
solveContactConstraints();
// set up the directions in which the velocity does not change in the momentum solve
m_deformableBodySolver->m_objective->m_projection.setProjection();
// for explicit scheme, m_backupVelocity = v_{n+1}^*
@@ -202,6 +206,7 @@ void btDeformableMultiBodyDynamicsWorld::solveConstraints(btScalar timeStep)
m_deformableBodySolver->setupDeformableSolve(m_implicit);
// At this point, dv should be golden for nodes in contact
// proceed to solve deformable momentum equation
m_deformableBodySolver->solveDeformableConstraints(timeStep);
}
@@ -217,7 +222,6 @@ void btDeformableMultiBodyDynamicsWorld::setupConstraints()
btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0;
btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
m_solverMultiBodyIslandCallback->setup(&m_solverInfo, constraintsPtr, m_sortedConstraints.size(), sortedMultiBodyConstraints, m_sortedMultiBodyConstraints.size(), getDebugDrawer());
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
// build islands
m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld());
@@ -243,7 +247,7 @@ void btDeformableMultiBodyDynamicsWorld::sortConstraints()
}
void btDeformableMultiBodyDynamicsWorld::solveMultiBodyRelatedConstraints()
void btDeformableMultiBodyDynamicsWorld::solveContactConstraints()
{
// process constraints on each island
m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);