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improve dynamic friction

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This commit is contained in:
Xuchen Han
2019-08-10 11:11:18 -07:00
parent fb6612c0be
commit fa5741d07e
7 changed files with 245 additions and 378 deletions
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31
src/BulletSoftBody/btCGProjection.h
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@@ -22,39 +22,30 @@ class btDeformableRigidDynamicsWorld;
struct DeformableContactConstraint
{
const btSoftBody::Node* m_node;
btAlignedObjectArray<const btSoftBody::RContact*> m_contact;
btAlignedObjectArray<btVector3> m_direction;
btAlignedObjectArray<btScalar> m_value;
// the magnitude of the total impulse the node applied to the rb in the normal direction in the cg solve
btAlignedObjectArray<btScalar> m_accumulated_normal_impulse;
btAlignedObjectArray<btVector3> m_total_normal_dv;
btAlignedObjectArray<btVector3> m_total_tangent_dv;
btAlignedObjectArray<bool> m_static;
btAlignedObjectArray<bool> m_can_be_dynamic;
DeformableContactConstraint(const btSoftBody::RContact& rcontact)
DeformableContactConstraint(const btSoftBody::RContact& rcontact): m_node(rcontact.m_node)
{
append(rcontact);
}
DeformableContactConstraint(const btVector3& dir)
DeformableContactConstraint(): m_node(NULL)
{
m_contact.push_back(NULL);
m_direction.push_back(dir);
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
}
DeformableContactConstraint()
{
m_contact.push_back(NULL);
m_direction.push_back(btVector3(0,0,0));
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
}
void append(const btSoftBody::RContact& rcontact)
{
m_contact.push_back(&rcontact);
m_direction.push_back(rcontact.m_cti.m_normal);
m_value.push_back(0);
m_accumulated_normal_impulse.push_back(0);
m_total_normal_dv.push_back(btVector3(0,0,0));
m_total_tangent_dv.push_back(btVector3(0,0,0));
m_static.push_back(false);
m_can_be_dynamic.push_back(true);
}
~DeformableContactConstraint()