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factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody

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This commit is contained in:
Xuchen Han
2019-07-25 13:51:44 -07:00
parent 233a381e7c
commit ec403f790d
18 changed files with 150 additions and 204 deletions
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11
src/BulletSoftBody/btDeformableGravityForce.h
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@@ -16,7 +16,7 @@ public:
using TVStack = btDeformableLagrangianForce::TVStack;
btVector3 m_gravity;
btDeformableGravityForce(const btAlignedObjectArray<btSoftBody *>& softBodies, const btVector3& g) : btDeformableLagrangianForce(softBodies), m_gravity(g)
btDeformableGravityForce(const btVector3& g) : m_gravity(g)
{
}
@@ -39,14 +39,14 @@ public:
virtual void addScaledGravityForce(btScalar scale, TVStack& force)
{
int numNodes = getNumNodes();
btAssert(numNodes == force.size())
btAssert(numNodes <= force.size())
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
btSoftBody::Node& n = psb->m_nodes[j];
size_t id = m_indices[&n];
size_t id = m_indices->at(&n);
btScalar mass = (n.m_im == 0) ? 0 : 1. / n.m_im;
btVector3 scaled_force = scale * m_gravity * mass;
force[id] += scaled_force;
@@ -54,7 +54,10 @@ public:
}
}
virtual btDeformableLagrangianForceType getForceType()
{
return BT_GRAVITY_FORCE;
}
};