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Merge remote-tracking branch 'origin/master' into KKT

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This commit is contained in:
Xuchen Han
2020-04-20 19:35:46 -07:00
parent 165427de01 f40a200f95
commit 78aebd44e2
31 changed files with 1270 additions and 395 deletions
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src/BulletSoftBody/btSoftBody.cpp
+7 -4
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@@ -222,6 +222,9 @@ void btSoftBody::initDefaults()
m_useSelfCollision = false;
m_collisionFlags = 0;
m_softSoftCollision = false;
m_maxSpeedSquared = 0;
m_repulsionStiffness = 0.5;
m_fdbvnt = 0;
}
//
@@ -2602,7 +2605,7 @@ void btSoftBody::initializeFaceTree()
for (int i = 0; i < m_faces.size(); ++i)
{
Face& f = m_faces[i];
ATTRIBUTE_ALIGNED16(btDbvtVolume) vol = VolumeOf(f, m_sst.radmrg);
ATTRIBUTE_ALIGNED16(btDbvtVolume) vol = VolumeOf(f, 0);
btDbvtNode* node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
node->parent = NULL;
node->data = &f;
@@ -2638,10 +2641,10 @@ void btSoftBody::initializeFaceTree()
}
}
m_fdbvt.m_root = buildTreeBottomUp(leafNodes, adj);
updateFaceTree(false, true);
if (m_fdbvnt)
delete m_fdbvnt;
m_fdbvnt = copyToDbvnt(m_fdbvt.m_root);
updateFaceTree(false, false);
rebuildNodeTree();
}
@@ -2654,7 +2657,7 @@ void btSoftBody::rebuildNodeTree()
for (int i = 0; i < m_nodes.size(); ++i)
{
Node& n = m_nodes[i];
ATTRIBUTE_ALIGNED16(btDbvtVolume) vol = btDbvtVolume::FromCR(n.m_x, m_sst.radmrg);
ATTRIBUTE_ALIGNED16(btDbvtVolume) vol = btDbvtVolume::FromCR(n.m_x, 0);
btDbvtNode* node = new (btAlignedAlloc(sizeof(btDbvtNode), 16)) btDbvtNode();
node->parent = NULL;
node->data = &n;
@@ -3451,7 +3454,7 @@ void btSoftBody::setSpringStiffness(btScalar k)
{
m_links[i].Feature::m_material->m_kLST = k;
}
repulsionStiffness = k;
m_repulsionStiffness = k;
}
void btSoftBody::initializeDmInverse()