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fixed gravity issue in rigid body and deformable body contact solve

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This commit is contained in:
Xuchen Han
2019-07-07 14:31:19 -07:00
parent b8997c36b2
commit 786b0436ec
7 changed files with 72 additions and 121 deletions
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19
src/BulletSoftBody/btContactProjection.cpp
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@@ -9,17 +9,6 @@
#include "btDeformableRigidDynamicsWorld.h"
void btContactProjection::update(btScalar dt, const TVStack& dv)
{
size_t counter = 0;
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
psb->m_nodes[j].m_v = m_backupVelocity[counter] + dv[counter];
++counter;
}
}
///solve rigid body constraints
m_world->btSoftRigidDynamicsWorld::btDiscreteDynamicsWorld::solveConstraints(m_world->getSolverInfo());
@@ -31,7 +20,7 @@ void btContactProjection::update(btScalar dt, const TVStack& dv)
}
// Set dirichlet constraints
counter = 0;
size_t counter = 0;
for (int i = 0; i < m_softBodies.size(); ++i)
{
const btSoftBody* psb = m_softBodies[i];
@@ -76,7 +65,7 @@ void btContactProjection::update(btScalar dt, const TVStack& dv)
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1) + btVector3(0,-10,0)*dt) * dt : btVector3(0, 0, 0);
va = rigidCol ? (rigidCol->getVelocityInLocalPoint(c.m_c1)) * dt : btVector3(0, 0, 0);
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
@@ -114,11 +103,9 @@ void btContactProjection::update(btScalar dt, const TVStack& dv)
// const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3)));
const btVector3 impulse = c.m_c0 * ((vr - (fv * c.m_c3))+ (cti.m_normal * (dp * c.m_c4)));
//c.m_node->m_v -= impulse * c.m_c2 / dt;
// TODO: only contact is considered here, add friction later
btVector3 normal = cti.m_normal.normalized();
btVector3 diff = c.m_node->m_v - m_backupVelocity[m_indices[c.m_node]];
btVector3 dv = -impulse * c.m_c2/dt + diff;
btVector3 dv = -impulse * c.m_c2/dt;
btScalar dvn = dv.dot(normal);
m_constrainedDirections[m_indices[c.m_node]].push_back(normal);
m_constrainedValues[m_indices[c.m_node]].push_back(dvn);