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Use a particle versus triangle contact constraint which is, numerically, more stable

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This commit is contained in:
Irlan
2019-06-17 12:41:27 -03:00
parent bc90c4f30e
commit 5f756dafca
5 changed files with 62 additions and 71 deletions
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2
include/bounce/cloth/cloth_contact.h
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@ -53,7 +53,7 @@ private:
float32 m_normalImpulse;
bool m_front;
float32 w2, w3, w4;
bool m_active;

9
include/bounce/cloth/cloth_contact_solver.h
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@ -92,11 +92,10 @@ struct b3ClothSolverTriangleContactVelocityConstraint
float32 invMassC;
u32 indexD;
float32 invMassD;
float32 wB, wC, wD;
b3Vec3 JA;
b3Vec3 JB;
b3Vec3 JC;
b3Vec3 JD;
b3Vec3 normal;
float32 normalMass;
float32 normalImpulse;
@ -116,7 +115,7 @@ struct b3ClothSolverTriangleContactPositionConstraint
float32 invMassD;
float32 triangleRadius;
bool front;
float32 wB, wC, wD;
};
struct b3ClothContactSolverDef