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code clean up + check in examples

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This commit is contained in:
Xuchen Han
2019-07-18 11:34:06 -07:00
parent 3430192db7
commit dc10336d45
18 changed files with 1552 additions and 412 deletions
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49
src/BulletSoftBody/btCGProjection.h
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@@ -17,12 +17,12 @@ struct Constraint
btAlignedObjectArray<const btSoftBody::RContact*> m_contact;
btAlignedObjectArray<btVector3> m_direction;
btAlignedObjectArray<btScalar> m_value;
// the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve
btAlignedObjectArray<btScalar> m_accumulated_normal_impulse;
Constraint(const btSoftBody::RContact& rcontact)
{
m_contact.push_back(&rcontact);
m_direction.push_back(rcontact.m_cti.m_normal);
m_value.push_back(0);
append(rcontact);
}
Constraint(const btVector3 dir)
@@ -30,30 +30,56 @@ struct Constraint
m_contact.push_back(nullptr);
m_direction.push_back(dir);
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
}
Constraint()
{
m_contact.push_back(nullptr);
m_direction.push_back(btVector3(0,0,0));
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
}
void append(const btSoftBody::RContact& rcontact)
{
m_contact.push_back(&rcontact);
m_direction.push_back(rcontact.m_cti.m_normal);
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
}
~Constraint()
{
}
};
struct Friction
{
btAlignedObjectArray<bool> m_static;
btAlignedObjectArray<btScalar> m_impulse;
btAlignedObjectArray<btScalar> m_dv;
btAlignedObjectArray<btVector3> m_direction;
btAlignedObjectArray<btVector3> m_direction_prev;
btAlignedObjectArray<bool> m_static; // whether the friction is static
btAlignedObjectArray<btScalar> m_impulse; // the impulse magnitude the node feels
btAlignedObjectArray<btScalar> m_dv; // the dv magnitude of the node
btAlignedObjectArray<btVector3> m_direction; // the direction of the friction for the node
btAlignedObjectArray<bool> m_static_prev;
btAlignedObjectArray<btScalar> m_impulse_prev;
btAlignedObjectArray<btScalar> m_dv_prev;
btAlignedObjectArray<btVector3> m_direction_prev;
btAlignedObjectArray<bool> m_released;
btAlignedObjectArray<bool> m_released; // whether the contact is released
btAlignedObjectArray<btScalar> m_accumulated_normal_impulse;
// the total impulse the node applied to the rb in the tangential direction in the cg solve
btAlignedObjectArray<btVector3> m_accumulated_tangent_impulse;
Friction()
{
append();
}
void append()
{
m_static.push_back(false);
m_static_prev.push_back(false);
@@ -67,7 +93,6 @@ struct Friction
m_dv.push_back(0);
m_dv_prev.push_back(0);
m_accumulated_normal_impulse.push_back(0);
m_accumulated_tangent_impulse.push_back(btVector3(0,0,0));
m_released.push_back(false);
}
@@ -100,7 +125,7 @@ public:
// apply the constraints
virtual void operator()(TVStack& x) = 0;
virtual void setConstraintDirections() = 0;
virtual void setConstraints() = 0;
// update the constraints
virtual void update(const TVStack& dv, const TVStack& backup_v) = 0;