Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-09-06 18:38:34 +00:00
Code Issues Packages Projects Releases Wiki Activity

add position error into deformable vs. rigid solve

Browse Source
This commit is contained in:
Xuchen Han
2019-12-31 19:18:37 -08:00
parent 78a8ddb466
commit a274bcbfa3
10 changed files with 33 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
View File

@@ -32,7 +32,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b
m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
// solver body velocity -> rigid body velocity
solverBodyWriteBack(infoGlobal);
btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies);
btScalar deformableResidual = m_deformableSolver->solveContactConstraints(deformableBodies,numDeformableBodies, infoGlobal);
// update rigid body velocity in rigid/deformable contact
m_leastSquaresResidual = btMax(m_leastSquaresResidual, deformableResidual);
// solver body velocity <- rigid body velocity
@@ -112,7 +112,7 @@ void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseI
if (infoGlobal.m_splitImpulse)
{
{
m_deformableSolver->splitImpulseSetup(infoGlobal);
// m_deformableSolver->splitImpulseSetup(infoGlobal);
for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
{
btScalar leastSquaresResidual = 0.f;