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add internal force

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This commit is contained in:
jingyuc
2021-07-16 15:01:44 -04:00
parent 4b6eaeed4c
commit c24f2a72ef
6 changed files with 63 additions and 22 deletions
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34
src/BulletSoftBody/btSoftBodyHelpers.cpp
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@@ -1512,7 +1512,7 @@ void btSoftBodyHelpers::readBinary(btAlignedObjectArray<btScalar>& vec,
f_in.close();
}
void btSoftBodyHelpers::readBinaryMat(btAlignedObjectArray<btAlignedObjectArray<btScalar> >& mat,
void btSoftBodyHelpers::readBinaryMat(btSoftBody::tDenseMatrix& mat,
const unsigned int n_start, // starting mode index
const unsigned int n_modes, // #modes, outer array size
const unsigned int n_full, // inner array size
@@ -1524,6 +1524,38 @@ void btSoftBodyHelpers::readBinaryMat(btAlignedObjectArray<btAlignedObjectArray<
f_in.read((char*)&v_size, sizeof(uint32_t));
btAssert(v_size == n_full * n_full);
// read data
mat.resize(n_modes);
for (int i = 0; i < n_start + n_modes; ++i)
{
for (int j = 0; j < n_full; ++j)
{
double temp;
f_in.read((char*)&temp, sizeof(double));
if (i >= n_start && j >= n_start && i < n_start + n_modes && j < n_start + n_modes)
{
if (mat[i - n_start].size() != n_modes)
mat[i - n_start].resize(n_modes);
mat[i - n_start][j - n_start] = btScalar(temp);
}
}
}
f_in.close();
}
void btSoftBodyHelpers::readBinaryModes(btSoftBody::tDenseMatrix& mat,
const unsigned int n_start, // starting mode index
const unsigned int n_modes, // #modes, outer array size
const unsigned int n_full, // inner array size
const char* file)
{
std::ifstream f_in(file, std::ios::in | std::ios::binary);
// first get size
unsigned int v_size;
f_in.read((char*)&v_size, sizeof(uint32_t));
btAssert(v_size == n_full * n_full);
// read data
mat.resize(n_modes);
for (int i = 0; i < n_start + n_modes; ++i)