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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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36
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -58,23 +58,27 @@ btScalar btDeformableContactProjection::update(btCollisionObject** deformableBod
return residualSquare;
}
void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo& infoGlobal)
btScalar btDeformableContactProjection::solveSplitImpulse(btCollisionObject** deformableBodies,int numDeformableBodies, const btContactSolverInfo& infoGlobal)
{
for (int i = 0; i < m_softBodies.size(); ++i)
{
// node constraints
for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
{
btDeformableNodeRigidContactConstraint& constraint = m_nodeRigidConstraints[i][j];
constraint.setPenetrationScale(infoGlobal.m_deformable_erp);
}
// face constraints
for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
{
btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[i][j];
constraint.setPenetrationScale(infoGlobal.m_deformable_erp);
}
}
btScalar residualSquare = 0;
for (int i = 0; i < numDeformableBodies; ++i)
{
for (int j = 0; j < m_softBodies.size(); ++j)
{
btCollisionObject* psb = m_softBodies[j];
if (psb != deformableBodies[i])
{
continue;
}
for (int k = 0; k < m_faceRigidConstraints[j].size(); ++k)
{
btDeformableFaceRigidContactConstraint& constraint = m_faceRigidConstraints[j][k];
btScalar localResidualSquare = constraint.solveSplitImpulse(infoGlobal);
residualSquare = btMax(residualSquare, localResidualSquare);
}
}
}
return residualSquare;
}
void btDeformableContactProjection::setConstraints(const btContactSolverInfo& infoGlobal)