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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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5
src/BulletSoftBody/btDeformableContactProjection.h
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@@ -22,8 +22,7 @@ class btDeformableContactProjection : public btCGProjection
{
public:
// map from node index to constraints
btHashMap<btHashInt, btAlignedObjectArray<DeformableContactConstraint> > m_constraints;
btHashMap<btHashInt, btAlignedObjectArray<DeformableFrictionConstraint> >m_frictions;
btHashMap<btHashInt, DeformableContactConstraint> m_constraints;
btDeformableContactProjection(btAlignedObjectArray<btSoftBody *>& softBodies, const btScalar& dt)
: btCGProjection(softBodies, dt)
@@ -37,7 +36,7 @@ public:
// apply the constraints to the rhs
virtual void project(TVStack& x);
// add to friction
virtual void projectFriction(TVStack& x);
virtual void applyDynamicFriction(TVStack& f);
// apply constraints to x in Ax=b
virtual void enforceConstraint(TVStack& x);