diff options
Diffstat (limited to 'extern/softbody/src/admmpd_collision.h')
| -rw-r--r-- | extern/softbody/src/admmpd_collision.h | 23 |
1 files changed, 9 insertions, 14 deletions
diff --git a/extern/softbody/src/admmpd_collision.h b/extern/softbody/src/admmpd_collision.h index f9c6363b89f..2ab7d343c05 100644 --- a/extern/softbody/src/admmpd_collision.h +++ b/extern/softbody/src/admmpd_collision.h @@ -52,15 +52,11 @@ public: // Special case for floor since it's common. virtual void set_floor(double z) = 0; - // Linearize the constraints and return Jacobian tensor. - // Constraints are linearized about x for constraint - // K x = l - virtual void jacobian( + // Linearize the constraints and return Jacobian. + virtual void linearize( const Eigen::MatrixXd *x, - std::vector<Eigen::Triplet<double> > *trips_x, - std::vector<Eigen::Triplet<double> > *trips_y, - std::vector<Eigen::Triplet<double> > *trips_z, - std::vector<double> *l) = 0; + std::vector<Eigen::Triplet<double> > *trips, + std::vector<double> *d) = 0; // Given a point and a surface mesh, // perform discrete collision and create @@ -83,7 +79,8 @@ class EmbeddedMeshCollision : public Collision { public: EmbeddedMeshCollision(const EmbeddedMeshData *mesh_) : mesh(mesh_), - floor_z(-std::numeric_limits<double>::max()) +// floor_z(-std::numeric_limits<double>::max()) + floor_z(0) {} // A floor is so common that it makes sense to hard @@ -100,12 +97,10 @@ public: // Linearizes the collision pairs about x // for the constraint Kx=l - void jacobian( + void linearize( const Eigen::MatrixXd *x, - std::vector<Eigen::Triplet<double> > *trips_x, - std::vector<Eigen::Triplet<double> > *trips_y, - std::vector<Eigen::Triplet<double> > *trips_z, - std::vector<double> *l); + std::vector<Eigen::Triplet<double> > *trips, + std::vector<double> *d); protected: // A ptr to the embedded mesh data |