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swap m_x and m_q in softbody to align with rendering convention

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This commit is contained in:
Xuchen Han
2019-08-26 16:18:56 -07:00
parent 7c39052163
commit e73f70efa2
6 changed files with 16 additions and 16 deletions
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6
src/BulletSoftBody/btDeformableMassSpringForce.h
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@@ -61,7 +61,7 @@ public:
btVector3 scaled_force = scale * m_dampingStiffness * v_diff;
if (m_momentum_conserving)
{
if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON)
if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON)
{
btVector3 dir = (node2->m_x - node1->m_x).normalized();
scaled_force = scale * m_dampingStiffness * v_diff.dot(dir) * dir;
@@ -91,7 +91,7 @@ public:
// elastic force
// explicit elastic force
btVector3 dir = (node2->m_q - node1->m_q);
btVector3 dir = (node2->m_x - node1->m_x);
btVector3 dir_normalized = (dir.norm() > SIMD_EPSILON) ? dir.normalized() : btVector3(0,0,0);
btVector3 scaled_force = scale * m_elasticStiffness * (dir - dir_normalized * r);
force[id1] += scaled_force;
@@ -118,7 +118,7 @@ public:
btVector3 local_scaled_df = scaled_k_damp * (dv[id2] - dv[id1]);
if (m_momentum_conserving)
{
if ((node2->m_q - node1->m_q).norm() > SIMD_EPSILON)
if ((node2->m_x - node1->m_x).norm() > SIMD_EPSILON)
{
btVector3 dir = (node2->m_x - node1->m_x).normalized();
local_scaled_df= scaled_k_damp * (dv[id2] - dv[id1]).dot(dir) * dir;