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code clean up and optimization

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This commit is contained in:
Xuchen Han
2019-09-15 12:06:28 -07:00
parent 109d9353af
commit 403eb62dfa
10 changed files with 86 additions and 147 deletions
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4
src/BulletSoftBody/btDeformableContactConstraint.cpp
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@@ -92,8 +92,6 @@ btScalar btDeformableRigidContactConstraint::solveConstraint()
btVector3 vb = getVb();
btVector3 vr = vb - va;
const btScalar dn = btDot(vr, cti.m_normal);
// if (dn > 0)
// return 0;
// dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt
btScalar residualSquare = dn*dn;
btVector3 impulse = m_contact->m_c0 * vr;
@@ -136,8 +134,10 @@ btScalar btDeformableRigidContactConstraint::solveConstraint()
}
}
impulse = impulse_normal + impulse_tangent;
// apply impulse to deformable nodes involved and change their velocities
applyImpulse(impulse);
// apply impulse to the rigid/multibodies involved and change their velocities
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
btRigidBody* rigidCol = 0;