diff options
Diffstat (limited to 'src/BulletSoftBody/btBackwardEulerObjective.cpp')
| -rw-r--r-- | src/BulletSoftBody/btBackwardEulerObjective.cpp | 34 |
1 files changed, 21 insertions, 13 deletions
diff --git a/src/BulletSoftBody/btBackwardEulerObjective.cpp b/src/BulletSoftBody/btBackwardEulerObjective.cpp index 69f5cd6ac..bdb781897 100644 --- a/src/BulletSoftBody/btBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btBackwardEulerObjective.cpp @@ -70,19 +70,27 @@ void btBackwardEulerObjective::computeStep(TVStack& dv, const TVStack& residual, void btBackwardEulerObjective::updateVelocity(const TVStack& dv) { - for (int i = 0; i < m_softBodies.size(); ++i) + // only the velocity of the constrained nodes needs to be updated during CG solve + for (auto it : projection.m_constraints) { - int counter = 0; - for (int i = 0; i < m_softBodies.size(); ++i) - { - btSoftBody* psb = m_softBodies[i]; - for (int j = 0; j < psb->m_nodes.size(); ++j) - { - // only the velocity of the constrained nodes needs to be updated during CG solve - if (projection.m_constrainedDirections.size() > 0) - psb->m_nodes[j].m_v = m_backupVelocity[counter] + dv[counter]; - ++counter; - } - } + int i = projection.m_indices[it.first]; + it.first->m_v = m_backupVelocity[i] + dv[i]; } } + +// for (int i = 0; i < m_softBodies.size(); ++i) +// { +// int counter = 0; +// for (int i = 0; i < m_softBodies.size(); ++i) +// { +// btSoftBody* psb = m_softBodies[i]; +// for (int j = 0; j < psb->m_nodes.size(); ++j) +// { +// // only the velocity of the constrained nodes needs to be updated during CG solve +// if (projection.m_constraints[&(psb->m_nodes[j])].size() > 0) +// psb->m_nodes[j].m_v = m_backupVelocity[counter] + dv[counter]; +// ++counter; +// } +// } +// } + |