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Diffstat (limited to 'src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp')
| -rw-r--r-- | src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp | 579 |
1 files changed, 0 insertions, 579 deletions
diff --git a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp b/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp deleted file mode 100644 index 3c78d2d22..000000000 --- a/src/BulletSoftBody/BulletReducedDeformableBody/btReducedDeformableContactConstraint.cpp +++ /dev/null @@ -1,579 +0,0 @@ -#include "btReducedDeformableContactConstraint.h" -#include <iostream> - -// ================= static constraints =================== -btReducedDeformableStaticConstraint::btReducedDeformableStaticConstraint( - btReducedDeformableBody* rsb, - btSoftBody::Node* node, - const btVector3& ri, - const btVector3& x0, - const btVector3& dir, - const btContactSolverInfo& infoGlobal, - btScalar dt) - : m_rsb(rsb), m_ri(ri), m_targetPos(x0), m_impulseDirection(dir), m_dt(dt), btDeformableStaticConstraint(node, infoGlobal) -{ - m_erp = 0.2; - m_appliedImpulse = 0; - - // get impulse factor - m_impulseFactorMatrix = rsb->getImpulseFactor(m_node->index); - m_impulseFactor = (m_impulseFactorMatrix * m_impulseDirection).dot(m_impulseDirection); - - btScalar vel_error = btDot(-m_node->m_v, m_impulseDirection); - btScalar pos_error = btDot(m_targetPos - m_node->m_x, m_impulseDirection); - - m_rhs = (vel_error + m_erp * pos_error / m_dt) / m_impulseFactor; -} - -btScalar btReducedDeformableStaticConstraint::solveConstraint(const btContactSolverInfo& infoGlobal) -{ - // target velocity of fixed constraint is 0 - btVector3 deltaVa = getDeltaVa(); - btScalar deltaV_rel = btDot(deltaVa, m_impulseDirection); - btScalar deltaImpulse = m_rhs - deltaV_rel / m_impulseFactor; - m_appliedImpulse = m_appliedImpulse + deltaImpulse; - - btVector3 impulse = deltaImpulse * m_impulseDirection; - applyImpulse(impulse); - - // calculate residual - btScalar residualSquare = m_impulseFactor * deltaImpulse; - residualSquare *= residualSquare; - - return residualSquare; -} - -// this calls reduced deformable body's internalApplyFullSpaceImpulse -void btReducedDeformableStaticConstraint::applyImpulse(const btVector3& impulse) -{ - // apply full space impulse - m_rsb->internalApplyFullSpaceImpulse(impulse, m_ri, m_node->index, m_dt); -} - -btVector3 btReducedDeformableStaticConstraint::getDeltaVa() const -{ - return m_rsb->internalComputeNodeDeltaVelocity(m_rsb->getInterpolationWorldTransform(), m_node->index); -} - -// ================= base contact constraints =================== -btReducedDeformableRigidContactConstraint::btReducedDeformableRigidContactConstraint( - btReducedDeformableBody* rsb, - const btSoftBody::DeformableRigidContact& c, - const btContactSolverInfo& infoGlobal, - btScalar dt) - : m_rsb(rsb), m_dt(dt), btDeformableRigidContactConstraint(c, infoGlobal) -{ - m_nodeQueryIndex = 0; - m_appliedNormalImpulse = 0; - m_appliedTangentImpulse = 0; - m_rhs = 0; - m_rhs_tangent = 0; - m_cfm = infoGlobal.m_deformable_cfm; - m_cfm_friction = 0; - m_erp = infoGlobal.m_deformable_erp; - m_erp_friction = infoGlobal.m_deformable_erp; - m_friction = infoGlobal.m_friction; - - m_collideStatic = m_contact->m_cti.m_colObj->isStaticObject(); - m_collideMultibody = (m_contact->m_cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK); -} - -void btReducedDeformableRigidContactConstraint::setSolverBody(const int bodyId, btSolverBody& solver_body) -{ - if (!m_collideMultibody) - { - m_solverBodyId = bodyId; - m_solverBody = &solver_body; - m_linearComponentNormal = -m_contactNormalA * m_solverBody->internalGetInvMass(); - btVector3 torqueAxis = -m_relPosA.cross(m_contactNormalA); - m_angularComponentNormal = m_solverBody->m_originalBody->getInvInertiaTensorWorld() * torqueAxis; - - m_linearComponentTangent = m_contactTangent * m_solverBody->internalGetInvMass(); - btVector3 torqueAxisTangent = m_relPosA.cross(m_contactTangent); - m_angularComponentTangent = m_solverBody->m_originalBody->getInvInertiaTensorWorld() * torqueAxisTangent; - } -} - -btVector3 btReducedDeformableRigidContactConstraint::getVa() const -{ - btVector3 Va(0, 0, 0); - if (!m_collideStatic) - { - Va = btDeformableRigidContactConstraint::getVa(); - } - return Va; -} - -btScalar btReducedDeformableRigidContactConstraint::solveConstraint(const btContactSolverInfo& infoGlobal) -{ - // btVector3 Va = getVa(); - // btVector3 deltaVa = Va - m_bufferVelocityA; - // if (!m_collideStatic) - // { - // std::cout << "moving collision!!!\n"; - // std::cout << "relPosA: " << m_relPosA[0] << "\t" << m_relPosA[1] << "\t" << m_relPosA[2] << "\n"; - // std::cout << "moving rigid linear_vel: " << m_solverBody->m_originalBody->getLinearVelocity()[0] << '\t' - // << m_solverBody->m_originalBody->getLinearVelocity()[1] << '\t' - // << m_solverBody->m_originalBody->getLinearVelocity()[2] << '\n'; - // } - btVector3 deltaVa = getDeltaVa(); - btVector3 deltaVb = getDeltaVb(); - - // if (!m_collideStatic) - // { - // std::cout << "deltaVa: " << deltaVa[0] << '\t' << deltaVa[1] << '\t' << deltaVa[2] << '\n'; - // std::cout << "deltaVb: " << deltaVb[0] << '\t' << deltaVb[1] << '\t' << deltaVb[2] << '\n'; - // } - - // get delta relative velocity and magnitude (i.e., how much impulse has been applied?) - btVector3 deltaV_rel = deltaVa - deltaVb; - btScalar deltaV_rel_normal = -btDot(deltaV_rel, m_contactNormalA); - - // if (!m_collideStatic) - // { - // std::cout << "deltaV_rel: " << deltaV_rel[0] << '\t' << deltaV_rel[1] << '\t' << deltaV_rel[2] << "\n"; - // std::cout << "deltaV_rel_normal: " << deltaV_rel_normal << "\n"; - // std::cout << "normal_A: " << m_contactNormalA[0] << '\t' << m_contactNormalA[1] << '\t' << m_contactNormalA[2] << '\n'; - // } - - // get the normal impulse to be applied - btScalar deltaImpulse = m_rhs - m_appliedNormalImpulse * m_cfm - deltaV_rel_normal / m_normalImpulseFactor; - // if (!m_collideStatic) - // { - // std::cout << "m_rhs: " << m_rhs << '\t' << "m_appliedNormalImpulse: " << m_appliedNormalImpulse << "\n"; - // std::cout << "m_normalImpulseFactor: " << m_normalImpulseFactor << '\n'; - // } - - { - // cumulative impulse that has been applied - btScalar sum = m_appliedNormalImpulse + deltaImpulse; - // if the cumulative impulse is pushing the object into the rigid body, set it zero - if (sum < 0) - { - deltaImpulse = -m_appliedNormalImpulse; - m_appliedNormalImpulse = 0; - } - else - { - m_appliedNormalImpulse = sum; - } - } - - // if (!m_collideStatic) - // { - // std::cout << "m_appliedNormalImpulse: " << m_appliedNormalImpulse << '\n'; - // std::cout << "deltaImpulse: " << deltaImpulse << '\n'; - // } - - // residual is the nodal normal velocity change in current iteration - btScalar residualSquare = deltaImpulse * m_normalImpulseFactor; // get residual - residualSquare *= residualSquare; - - - // apply Coulomb friction (based on delta velocity, |dv_t| = |dv_n * friction|) - btScalar deltaImpulse_tangent = 0; - btScalar deltaImpulse_tangent2 = 0; - { - // calculate how much impulse is needed - // btScalar deltaV_rel_tangent = btDot(deltaV_rel, m_contactTangent); - // btScalar impulse_changed = deltaV_rel_tangent * m_tangentImpulseFactorInv; - // deltaImpulse_tangent = m_rhs_tangent - impulse_changed; - - // btScalar sum = m_appliedTangentImpulse + deltaImpulse_tangent; - btScalar lower_limit = - m_appliedNormalImpulse * m_friction; - btScalar upper_limit = m_appliedNormalImpulse * m_friction; - // if (sum > upper_limit) - // { - // deltaImpulse_tangent = upper_limit - m_appliedTangentImpulse; - // m_appliedTangentImpulse = upper_limit; - // } - // else if (sum < lower_limit) - // { - // deltaImpulse_tangent = lower_limit - m_appliedTangentImpulse; - // m_appliedTangentImpulse = lower_limit; - // } - // else - // { - // m_appliedTangentImpulse = sum; - // } - // - calculateTangentialImpulse(deltaImpulse_tangent, m_appliedTangentImpulse, m_rhs_tangent, - m_tangentImpulseFactorInv, m_contactTangent, lower_limit, upper_limit, deltaV_rel); - - if (m_collideMultibody) - { - calculateTangentialImpulse(deltaImpulse_tangent2, m_appliedTangentImpulse2, m_rhs_tangent2, - m_tangentImpulseFactorInv2, m_contactTangent2, lower_limit, upper_limit, deltaV_rel); - } - - - if (!m_collideStatic) - { - // std::cout << "m_contactTangent: " << m_contactTangent[0] << "\t" << m_contactTangent[1] << "\t" << m_contactTangent[2] << "\n"; - // std::cout << "deltaV_rel_tangent: " << deltaV_rel_tangent << '\n'; - // std::cout << "deltaImpulseTangent: " << deltaImpulse_tangent << '\n'; - // std::cout << "m_appliedTangentImpulse: " << m_appliedTangentImpulse << '\n'; - } - } - - // get the total impulse vector - btVector3 impulse_normal = deltaImpulse * m_contactNormalA; - btVector3 impulse_tangent = deltaImpulse_tangent * (-m_contactTangent); - btVector3 impulse_tangent2 = deltaImpulse_tangent2 * (-m_contactTangent2); - btVector3 impulse = impulse_normal + impulse_tangent + impulse_tangent2; - - applyImpulse(impulse); - - // apply impulse to the rigid/multibodies involved and change their velocities - if (!m_collideStatic) - { - // std::cout << "linear_component: " << m_linearComponentNormal[0] << '\t' - // << m_linearComponentNormal[1] << '\t' - // << m_linearComponentNormal[2] << '\n'; - // std::cout << "angular_component: " << m_angularComponentNormal[0] << '\t' - // << m_angularComponentNormal[1] << '\t' - // << m_angularComponentNormal[2] << '\n'; - - if (!m_collideMultibody) // collision with rigid body - { - // std::cout << "rigid impulse applied!!\n"; - // std::cout << "delta Linear: " << m_solverBody->getDeltaLinearVelocity()[0] << '\t' - // << m_solverBody->getDeltaLinearVelocity()[1] << '\t' - // << m_solverBody->getDeltaLinearVelocity()[2] << '\n'; - // std::cout << "delta Angular: " << m_solverBody->getDeltaAngularVelocity()[0] << '\t' - // << m_solverBody->getDeltaAngularVelocity()[1] << '\t' - // << m_solverBody->getDeltaAngularVelocity()[2] << '\n'; - - m_solverBody->internalApplyImpulse(m_linearComponentNormal, m_angularComponentNormal, deltaImpulse); - m_solverBody->internalApplyImpulse(m_linearComponentTangent, m_angularComponentTangent, deltaImpulse_tangent); - - // std::cout << "after\n"; - // std::cout << "rigid impulse applied!!\n"; - // std::cout << "delta Linear: " << m_solverBody->getDeltaLinearVelocity()[0] << '\t' - // << m_solverBody->getDeltaLinearVelocity()[1] << '\t' - // << m_solverBody->getDeltaLinearVelocity()[2] << '\n'; - // std::cout << "delta Angular: " << m_solverBody->getDeltaAngularVelocity()[0] << '\t' - // << m_solverBody->getDeltaAngularVelocity()[1] << '\t' - // << m_solverBody->getDeltaAngularVelocity()[2] << '\n'; - } - else // collision with multibody - { - btMultiBodyLinkCollider* multibodyLinkCol = 0; - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(m_contact->m_cti.m_colObj); - if (multibodyLinkCol) - { - const btScalar* deltaV_normal = &m_contact->jacobianData_normal.m_deltaVelocitiesUnitImpulse[0]; - // apply normal component of the impulse - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_normal, -deltaImpulse); - - // const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - // std::cout << "deltaV_normal: "; - // for (int i = 0; i < ndof; ++i) - // { - // std::cout << i << "\t" << deltaV_normal[i] << '\n'; - // } - - if (impulse_tangent.norm() > SIMD_EPSILON) - { - // apply tangential component of the impulse - const btScalar* deltaV_t1 = &m_contact->jacobianData_t1.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t1, deltaImpulse_tangent); - const btScalar* deltaV_t2 = &m_contact->jacobianData_t2.m_deltaVelocitiesUnitImpulse[0]; - multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof2(deltaV_t2, deltaImpulse_tangent2); - } - } - } - } - return residualSquare; -} - -void btReducedDeformableRigidContactConstraint::calculateTangentialImpulse(btScalar& deltaImpulse_tangent, - btScalar& appliedImpulse, - const btScalar rhs_tangent, - const btScalar tangentImpulseFactorInv, - const btVector3& tangent, - const btScalar lower_limit, - const btScalar upper_limit, - const btVector3& deltaV_rel) -{ - btScalar deltaV_rel_tangent = btDot(deltaV_rel, tangent); - btScalar impulse_changed = deltaV_rel_tangent * tangentImpulseFactorInv; - deltaImpulse_tangent = rhs_tangent - m_cfm_friction * appliedImpulse - impulse_changed; - - btScalar sum = appliedImpulse + deltaImpulse_tangent; - if (sum > upper_limit) - { - deltaImpulse_tangent = upper_limit - appliedImpulse; - appliedImpulse = upper_limit; - } - else if (sum < lower_limit) - { - deltaImpulse_tangent = lower_limit - appliedImpulse; - appliedImpulse = lower_limit; - } - else - { - appliedImpulse = sum; - } -} - -// ================= node vs rigid constraints =================== -btReducedDeformableNodeRigidContactConstraint::btReducedDeformableNodeRigidContactConstraint( - btReducedDeformableBody* rsb, - const btSoftBody::DeformableNodeRigidContact& contact, - const btContactSolverInfo& infoGlobal, - btScalar dt) - : m_node(contact.m_node), btReducedDeformableRigidContactConstraint(rsb, contact, infoGlobal, dt) -{ - m_contactNormalA = contact.m_cti.m_normal; - m_contactNormalB = -contact.m_cti.m_normal; - - if (contact.m_node->index < rsb->m_nodes.size()) - { - m_nodeQueryIndex = contact.m_node->index; - } - else - { - m_nodeQueryIndex = m_node->index - rsb->m_nodeIndexOffset; - } - - if (m_contact->m_cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - { - m_relPosA = contact.m_c1; - } - else - { - m_relPosA = btVector3(0,0,0); - } - m_relPosB = m_node->m_x - m_rsb->getRigidTransform().getOrigin(); - - if (m_collideStatic) // colliding with static object, only consider reduced deformable body's impulse factor - { - m_impulseFactor = m_rsb->getImpulseFactor(m_nodeQueryIndex); - } - else // colliding with dynamic object, consider both reduced deformable and rigid body's impulse factors - { - m_impulseFactor = m_rsb->getImpulseFactor(m_nodeQueryIndex) + contact.m_c0; - } - - m_normalImpulseFactor = (m_impulseFactor * m_contactNormalA).dot(m_contactNormalA); - m_tangentImpulseFactor = 0; - - warmStarting(); -} - -void btReducedDeformableNodeRigidContactConstraint::warmStarting() -{ - btVector3 va = getVa(); - btVector3 vb = getVb(); - m_bufferVelocityA = va; - m_bufferVelocityB = vb; - - // we define the (+) direction of errors to be the outward surface normal of the rigid object - btVector3 v_rel = vb - va; - // get tangent direction of the relative velocity - btVector3 v_tangent = v_rel - v_rel.dot(m_contactNormalA) * m_contactNormalA; - if (v_tangent.norm() < SIMD_EPSILON) - { - m_contactTangent = btVector3(0, 0, 0); - // tangent impulse factor - m_tangentImpulseFactor = 0; - m_tangentImpulseFactorInv = 0; - } - else - { - if (!m_collideMultibody) - { - m_contactTangent = v_tangent.normalized(); - m_contactTangent2.setZero(); - // tangent impulse factor 1 - m_tangentImpulseFactor = (m_impulseFactor * m_contactTangent).dot(m_contactTangent); - m_tangentImpulseFactorInv = btScalar(1) / m_tangentImpulseFactor; - // tangent impulse factor 2 - m_tangentImpulseFactor2 = 0; - m_tangentImpulseFactorInv2 = 0; - } - else // multibody requires 2 contact directions - { - m_contactTangent = m_contact->t1; - m_contactTangent2 = m_contact->t2; - - // tangent impulse factor 1 - m_tangentImpulseFactor = (m_impulseFactor * m_contactTangent).dot(m_contactTangent); - m_tangentImpulseFactorInv = btScalar(1) / m_tangentImpulseFactor; - // tangent impulse factor 2 - m_tangentImpulseFactor2 = (m_impulseFactor * m_contactTangent2).dot(m_contactTangent2); - m_tangentImpulseFactorInv2 = btScalar(1) / m_tangentImpulseFactor2; - } - } - - - // initial guess for normal impulse - { - btScalar velocity_error = btDot(v_rel, m_contactNormalA); // magnitude of relative velocity - btScalar position_error = 0; - if (m_penetration > 0) - { - velocity_error += m_penetration / m_dt; - } - else - { - // add penetration correction vel - position_error = m_penetration * m_erp / m_dt; - } - // get the initial estimate of impulse magnitude to be applied - m_rhs = -(velocity_error + position_error) / m_normalImpulseFactor; - } - - // initial guess for tangential impulse - { - btScalar velocity_error = btDot(v_rel, m_contactTangent); - m_rhs_tangent = velocity_error * m_tangentImpulseFactorInv; - - if (m_collideMultibody) - { - btScalar velocity_error2 = btDot(v_rel, m_contactTangent2); - m_rhs_tangent2 = velocity_error2 * m_tangentImpulseFactorInv2; - } - } - - // warm starting - // applyImpulse(m_rhs * m_contactNormalA); - // if (!m_collideStatic) - // { - // const btSoftBody::sCti& cti = m_contact->m_cti; - // if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) - // { - // m_solverBody->internalApplyImpulse(m_linearComponentNormal, m_angularComponentNormal, -m_rhs); - // } - // } -} - -btVector3 btReducedDeformableNodeRigidContactConstraint::getVb() const -{ - return m_node->m_v; -} - -btVector3 btReducedDeformableNodeRigidContactConstraint::getDeltaVa() const -{ - btVector3 deltaVa(0, 0, 0); - if (!m_collideStatic) - { - if (!m_collideMultibody) // for rigid body - { - deltaVa = m_solverBody->internalGetDeltaLinearVelocity() + m_solverBody->internalGetDeltaAngularVelocity().cross(m_relPosA); - } - else // for multibody - { - btMultiBodyLinkCollider* multibodyLinkCol = 0; - multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(m_contact->m_cti.m_colObj); - if (multibodyLinkCol) - { - const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - const btScalar* J_n = &m_contact->jacobianData_normal.m_jacobians[0]; - const btScalar* J_t1 = &m_contact->jacobianData_t1.m_jacobians[0]; - const btScalar* J_t2 = &m_contact->jacobianData_t2.m_jacobians[0]; - const btScalar* local_dv = multibodyLinkCol->m_multiBody->getDeltaVelocityVector(); - // add in the normal component of the va - btScalar vel = 0; - for (int k = 0; k < ndof; ++k) - { - vel += local_dv[k] * J_n[k]; - } - deltaVa = m_contact->m_cti.m_normal * vel; - - // add in the tangential components of the va - vel = 0; - for (int k = 0; k < ndof; ++k) - { - vel += local_dv[k] * J_t1[k]; - } - deltaVa += m_contact->t1 * vel; - - vel = 0; - for (int k = 0; k < ndof; ++k) - { - vel += local_dv[k] * J_t2[k]; - } - deltaVa += m_contact->t2 * vel; - } - } - } - return deltaVa; -} - -btVector3 btReducedDeformableNodeRigidContactConstraint::getDeltaVb() const -{ - // std::cout << "node: " << m_node->index << '\n'; - return m_rsb->internalComputeNodeDeltaVelocity(m_rsb->getInterpolationWorldTransform(), m_nodeQueryIndex); -} - -btVector3 btReducedDeformableNodeRigidContactConstraint::getSplitVb() const -{ - return m_node->m_splitv; -} - -btVector3 btReducedDeformableNodeRigidContactConstraint::getDv(const btSoftBody::Node* node) const -{ - return m_total_normal_dv + m_total_tangent_dv; -} - -void btReducedDeformableNodeRigidContactConstraint::applyImpulse(const btVector3& impulse) -{ - m_rsb->internalApplyFullSpaceImpulse(impulse, m_relPosB, m_nodeQueryIndex, m_dt); - // m_rsb->applyFullSpaceImpulse(impulse, m_relPosB, m_node->index, m_dt); - // m_rsb->mapToFullVelocity(m_rsb->getInterpolationWorldTransform()); - // if (!m_collideStatic) - // { - // // std::cout << "impulse applied: " << impulse[0] << '\t' << impulse[1] << '\t' << impulse[2] << '\n'; - // // std::cout << "node: " << m_node->index << " vel: " << m_node->m_v[0] << '\t' << m_node->m_v[1] << '\t' << m_node->m_v[2] << '\n'; - // btVector3 v_after = getDeltaVb() + m_node->m_v; - // // std::cout << "vel after: " << v_after[0] << '\t' << v_after[1] << '\t' << v_after[2] << '\n'; - // } - // std::cout << "node: " << m_node->index << " pos: " << m_node->m_x[0] << '\t' << m_node->m_x[1] << '\t' << m_node->m_x[2] << '\n'; -} - -// ================= face vs rigid constraints =================== -btReducedDeformableFaceRigidContactConstraint::btReducedDeformableFaceRigidContactConstraint( - btReducedDeformableBody* rsb, - const btSoftBody::DeformableFaceRigidContact& contact, - const btContactSolverInfo& infoGlobal, - btScalar dt, - bool useStrainLimiting) - : m_face(contact.m_face), m_useStrainLimiting(useStrainLimiting), btReducedDeformableRigidContactConstraint(rsb, contact, infoGlobal, dt) -{} - -btVector3 btReducedDeformableFaceRigidContactConstraint::getVb() const -{ - const btSoftBody::DeformableFaceRigidContact* contact = getContact(); - btVector3 vb = m_face->m_n[0]->m_v * contact->m_bary[0] + m_face->m_n[1]->m_v * contact->m_bary[1] + m_face->m_n[2]->m_v * contact->m_bary[2]; - return vb; -} - -btVector3 btReducedDeformableFaceRigidContactConstraint::getSplitVb() const -{ - const btSoftBody::DeformableFaceRigidContact* contact = getContact(); - btVector3 vb = (m_face->m_n[0]->m_splitv) * contact->m_bary[0] + (m_face->m_n[1]->m_splitv) * contact->m_bary[1] + (m_face->m_n[2]->m_splitv) * contact->m_bary[2]; - return vb; -} - -btVector3 btReducedDeformableFaceRigidContactConstraint::getDv(const btSoftBody::Node* node) const -{ - btVector3 face_dv = m_total_normal_dv + m_total_tangent_dv; - const btSoftBody::DeformableFaceRigidContact* contact = getContact(); - if (m_face->m_n[0] == node) - { - return face_dv * contact->m_weights[0]; - } - if (m_face->m_n[1] == node) - { - return face_dv * contact->m_weights[1]; - } - btAssert(node == m_face->m_n[2]); - return face_dv * contact->m_weights[2]; -} - -void btReducedDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impulse) -{ - // -}
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