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bug fixes and parameter tuning

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This commit is contained in:
Xuchen Han
2020-03-04 17:22:46 -08:00
parent 1cb9a0630f
commit 4efc983ca5
3 changed files with 4 additions and 3 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+1
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@@ -8327,6 +8327,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
if (use_bending_spring)
{
psb->generateBendingConstraints(2);
psb->generateBendingConstraints(2);
}
}
btSoftBody::Material* pm = psb->appendMaterial();
src/BulletSoftBody/btSoftBody.cpp
+2 -2
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@@ -3942,8 +3942,8 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
docollideFace.psb = this;
docollideFace.m_colObj1Wrap = pcoWrap;
docollideFace.m_rigidBody = prb1;
docollideFace.dynmargin = 0.05*(basemargin + timemargin);
docollideFace.stamargin = 0.05*basemargin;
docollideFace.dynmargin = 0.5*(basemargin + timemargin);
docollideFace.stamargin = 0.5*basemargin;
m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
}
}
src/BulletSoftBody/btSoftBodyHelpers.cpp
+1 -1
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@@ -1581,7 +1581,7 @@ void btSoftBodyHelpers::extrapolateBarycentricWeights(btSoftBody* psb)
const btSoftBody::Face& f = psb->m_faces[j];
btVector3 n = btCross(f.m_n[1]->m_x - f.m_n[0]->m_x, f.m_n[2]->m_x - f.m_n[0]->m_x);
btVector3 unit_n = n.normalized();
dist = p.dot(unit_n);
dist = (p-f.m_n[0]->m_x).dot(unit_n);
btVector3 proj_p = p - dist*unit_n;
getBarycentricWeights(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, proj_p, bary);
btScalar new_min_bary_weight = bary[0];