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finished refactoring; start adding face contact

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This commit is contained in:
Xuchen Han
2019-08-30 14:16:56 -07:00
parent f813cb1c88
commit f99cf56149
16 changed files with 937 additions and 355 deletions
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19
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@@ -47,6 +47,7 @@ void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar
m_lf[i]->reinitialize(nodeUpdated);
}
projection.reinitialize(nodeUpdated);
projection.setIndices(getIndices());
m_preconditioner->reinitialize(nodeUpdated);
}
@@ -84,11 +85,21 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b)
void btDeformableBackwardEulerObjective::updateVelocity(const TVStack& dv)
{
// only the velocity of the constrained nodes needs to be updated during contact solve
for (int i = 0; i < projection.m_constraints.size(); ++i)
// // only the velocity of the constrained nodes needs to be updated during contact solve
// for (int i = 0; i < projection.m_constraints.size(); ++i)
// {
// int index = projection.m_constraints.getKeyAtIndex(i).getUid1();
// m_nodes[index]->m_v = m_backupVelocity[index] + dv[index];
// }
for (int i = 0; i < m_softBodies.size(); ++i)
{
int index = projection.m_constraints.getKeyAtIndex(i).getUid1();
m_nodes[index]->m_v = m_backupVelocity[index] + dv[index];
btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
btSoftBody::Node& node = psb->m_nodes[j];
node.m_v = m_backupVelocity[node.index] + dv[node.index];
}
}
}