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each node only allows a single contact; initial guess for newton set to x = x_n + dt*v_n

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This commit is contained in:
Xuchen Han
2019-08-29 10:08:34 -07:00
committed by Xuchen Han
parent 482458c9df
commit e124c62a70
4 changed files with 34 additions and 4 deletions
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13
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -20,6 +20,7 @@
btScalar btDeformableContactProjection::update()
{
btScalar residualSquare = 0;
btScalar max_impulse = 0;
// loop through constraints to set constrained values
for (int index = 0; index < m_constraints.size(); ++index)
{
@@ -128,6 +129,7 @@ btScalar btDeformableContactProjection::update()
}
}
impulse = impulse_normal + impulse_tangent;
max_impulse = btMax(impulse.length2(), max_impulse);
// dn is the normal component of velocity diffrerence. Approximates the residual.
residualSquare = btMax(residualSquare, dn*dn);
@@ -231,7 +233,16 @@ void btDeformableContactProjection::setConstraints()
else
{
DeformableContactConstraint& constraints = *m_constraints[c.m_node->index];
constraints.append(c);
bool single_contact = true;
if (single_contact)
{
constraints.m_contact[0]->m_cti.m_offset > cti.m_offset;
constraints.replace(c);
}
else
{
constraints.append(c);
}
}
}
}