diff options
Diffstat (limited to 'src/BulletSoftBody/btDeformableContactProjection.cpp')
-rw-r--r-- | src/BulletSoftBody/btDeformableContactProjection.cpp | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp index 733e648c4..7f67260ce 100644 --- a/src/BulletSoftBody/btDeformableContactProjection.cpp +++ b/src/BulletSoftBody/btDeformableContactProjection.cpp @@ -452,8 +452,8 @@ void btDeformableContactProjection::checkConstraints(const TVStack& x) d[j] += lm.m_weights[k] * x[lm.m_indices[k]].dot(lm.m_dirs[j]); } } -// printf("d = %f, %f, %f\n", d[0], d[1], d[2]); -// printf("val = %f, %f, %f\n", lm.m_vals[0], lm.m_vals[1], lm.m_vals[2]); + // printf("d = %f, %f, %f\n", d[0], d[1], d[2]); + // printf("val = %f, %f, %f\n", lm.m_vals[0], lm.m_vals[1], lm.m_vals[2]); } } @@ -494,7 +494,7 @@ void btDeformableContactProjection::setLagrangeMultiplier() lm.m_dirs[2] = btVector3(0, 0, 1); m_lagrangeMultipliers.push_back(lm); } - + for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j) { if (!m_nodeRigidConstraints[i][j].m_binding) @@ -520,20 +520,20 @@ void btDeformableContactProjection::setLagrangeMultiplier() lm.m_dirs[0] = m_nodeRigidConstraints[i][j].m_normal; } m_lagrangeMultipliers.push_back(lm); - } - + } + for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j) { if (!m_faceRigidConstraints[i][j].m_binding) { continue; } - btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face; + btSoftBody::Face* face = m_faceRigidConstraints[i][j].m_face; btVector3 bary = m_faceRigidConstraints[i][j].getContact()->m_bary; LagrangeMultiplier lm; lm.m_num_nodes = 3; - + for (int k = 0; k < 3; ++k) { face->m_n[k]->m_constrained = true; @@ -542,7 +542,7 @@ void btDeformableContactProjection::setLagrangeMultiplier() } if (m_faceRigidConstraints[i][j].m_static) { - face->m_pcontact[3] = 1; + face->m_pcontact[3] = 1; lm.m_num_constraints = 3; lm.m_dirs[0] = btVector3(1, 0, 0); lm.m_dirs[1] = btVector3(0, 1, 0); @@ -550,7 +550,7 @@ void btDeformableContactProjection::setLagrangeMultiplier() } else { - face->m_pcontact[3] = 0; + face->m_pcontact[3] = 0; lm.m_num_constraints = 1; lm.m_dirs[0] = m_faceRigidConstraints[i][j].m_normal; } |