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add multibody interpolation transform so that collision detection is consistent with rigidbody

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This commit is contained in:
Xuchen Han
2019-07-31 20:40:22 -07:00
parent ec403f790d
commit f1e7ce9ce1
10 changed files with 196 additions and 46 deletions
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5
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -12,12 +12,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
, projection(m_softBodies, m_dt, &m_indices)
, m_backupVelocity(backup_v)
{
// TODO: this should really be specified in initialization instead of here
// btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(m_softBodies);
// btDeformableGravityForce* gravity = new btDeformableGravityForce(m_softBodies, btVector3(0,-10,0));
m_preconditioner = new DefaultPreconditioner();
// m_lf.push_back(mass_spring);
// m_lf.push_back(gravity);
}
void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated)