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support split impulse for deformable vs. rigid contact

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This commit is contained in:
Xuchen Han
2020-04-22 15:18:29 -07:00
parent e92d013730
commit 95287e458c
11 changed files with 121 additions and 44 deletions
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10
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -262,11 +262,6 @@ btScalar btDeformableBodySolver::solveContactConstraints(btCollisionObject** def
return maxSquaredResidual;
}
void btDeformableBodySolver::splitImpulseSetup(const btContactSolverInfo& infoGlobal)
{
m_objective->m_projection.splitImpulseSetup(infoGlobal);
}
void btDeformableBodySolver::updateVelocity()
{
int counter = 0;
@@ -286,7 +281,7 @@ void btDeformableBodySolver::updateVelocity()
{
m_dv[counter].setZero();
}
psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter];
psb->m_nodes[j].m_v = m_backupVelocity[counter] + m_dv[counter] - psb->m_nodes[j].m_splitv;
psb->m_maxSpeedSquared = btMax(psb->m_maxSpeedSquared, psb->m_nodes[j].m_v.length2());
++counter;
}
@@ -349,7 +344,7 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit)
}
else
{
m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
m_dv[counter] = psb->m_nodes[j].m_v + psb->m_nodes[j].m_splitv - m_backupVelocity[counter];
}
psb->m_nodes[j].m_v = m_backupVelocity[counter];
++counter;
@@ -441,6 +436,7 @@ void btDeformableBodySolver::predictDeformableMotion(btSoftBody* psb, btScalar d
n.m_v *= max_v;
}
n.m_q = n.m_x + n.m_v * dt;
n.m_splitv.setZero();
n.m_penetration = 0;
}