diff options
Diffstat (limited to 'extern/softbody/src/admmpd_collision.cpp')
| -rw-r--r-- | extern/softbody/src/admmpd_collision.cpp | 12 |
1 files changed, 11 insertions, 1 deletions
diff --git a/extern/softbody/src/admmpd_collision.cpp b/extern/softbody/src/admmpd_collision.cpp index 5e14bc3a756..a05b27287cc 100644 --- a/extern/softbody/src/admmpd_collision.cpp +++ b/extern/softbody/src/admmpd_collision.cpp @@ -308,9 +308,10 @@ void EmbeddedMeshCollision::linearize( for (int i=0; i<np; ++i) { - Vector2i pair_idx = vf_pairs[i]; + const Vector2i &pair_idx = vf_pairs[i]; VFCollisionPair &pair = per_vertex_pairs[pair_idx[0]][pair_idx[1]]; int emb_p_idx = pair.p_idx; + Vector3d p_pt = mesh->get_mapped_vertex(x,emb_p_idx); // // If we collided with an obstacle @@ -334,8 +335,17 @@ void EmbeddedMeshCollision::linearize( }; q_n = ((q_tris[1]-q_tris[0]).cross(q_tris[2]-q_tris[0])); q_n.normalize(); + + // Update constraint linearization + pair.q_pt = geom::point_on_triangle<double>(p_pt, + q_tris[0], q_tris[1], q_tris[2]); } + // Is the constraint active? + bool active = (p_pt-pair.q_pt).dot(q_n) <= 0.0; + if (!active) + continue; + // Get the four deforming verts that embed // the surface vertices, and add constraints on those. RowVector4d bary = mesh->emb_barys.row(emb_p_idx); |