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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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8
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -36,17 +36,17 @@ void btDeformableBodySolver::solveConstraints(float solverdt)
// add constraints to the solver
setConstraints();
m_objective->computeResidual(solverdt, m_residual);
m_objective->projectFriction(m_residual);
m_objective->applyDynamicFriction(m_residual);
computeStep(m_dv, m_residual);
updateVelocity();
}
void btDeformableBodySolver::computeStep(TVStack& dv, const TVStack& residual)
{
btScalar tolerance = std::numeric_limits<float>::epsilon()* 1024 * m_objective->computeNorm(residual);
btScalar tolerance = std::numeric_limits<float>::epsilon() * m_objective->computeNorm(residual);
m_cg.solve(*m_objective, dv, residual, tolerance);
}
@@ -76,7 +76,7 @@ void btDeformableBodySolver::setConstraints()
{
BT_PROFILE("setConstraint");
m_objective->setConstraints();
for (int i = 0; i < 1; ++i)
for (int i = 0; i < 10; ++i)
{
m_objective->projection.update();
m_objective->enforceConstraint(m_dv);