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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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12
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -998,7 +998,7 @@ struct btSoftColliders
if (!n.m_battach)
{
// check for collision at x_{n+1}^*
if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true))
if (psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true))
{
const btScalar ima = n.m_im;
const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;
@@ -1006,7 +1006,7 @@ struct btSoftColliders
if (ms > 0)
{
// resolve contact at x_n
psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ false);
psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ false);
btSoftBody::sCti& cti = c.m_cti;
c.m_node = &n;
const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();
@@ -1019,7 +1019,7 @@ struct btSoftColliders
const btTransform& wtr = m_rigidBody ? m_rigidBody->getWorldTransform() : m_colObj1Wrap->getCollisionObject()->getWorldTransform();
static const btMatrix3x3 iwiStatic(0, 0, 0, 0, 0, 0, 0, 0, 0);
const btMatrix3x3& iwi = m_rigidBody ? m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
const btVector3 ra = n.m_q - wtr.getOrigin();
const btVector3 ra = n.m_x - wtr.getOrigin();
c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra);
c.m_c1 = ra;
@@ -1035,9 +1035,9 @@ struct btSoftColliders
btVector3 t1 = generateUnitOrthogonalVector(normal);
btVector3 t2 = btCross(normal, t1);
btMultiBodyJacobianData jacobianData_normal, jacobianData_t1, jacobianData_t2;
findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_q, normal);
findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_q, t1);
findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_q, t2);
findJacobian(multibodyLinkCol, jacobianData_normal, c.m_node->m_x, normal);
findJacobian(multibodyLinkCol, jacobianData_t1, c.m_node->m_x, t1);
findJacobian(multibodyLinkCol, jacobianData_t2, c.m_node->m_x, t2);
btScalar* J_n = &jacobianData_normal.m_jacobians[0];
btScalar* J_t1 = &jacobianData_t1.m_jacobians[0];