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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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4
src/BulletSoftBody/btDeformableCorotatedForce.h
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@@ -19,7 +19,7 @@
#include "btDeformableLagrangianForce.h"
#include "LinearMath/btPolarDecomposition.h"
static inline int PolarDecompose(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s)
static inline int PolarDecomposition(const btMatrix3x3& m, btMatrix3x3& q, btMatrix3x3& s)
{
static const btPolarDecomposition polar;
return polar.decompose(m, q, s);
@@ -100,7 +100,7 @@ public:
if (J < 1024 * SIMD_EPSILON)
R.setIdentity();
else
PolarDecompose(F, R, S); // this QR is not robust, consider using implicit shift svd
PolarDecomposition(F, R, S); // this QR is not robust, consider using implicit shift svd
/*https://fuchuyuan.github.io/research/svd/paper.pdf*/
P += (F-R) * 2 * m_mu;
}