void tgBulletContactSpringCable::step(double dt)
{
updateManifolds();
#if (0) // Typically causes contacts to be lost
int numPruned = 1;
while (numPruned > 0)
{
numPruned = updateAnchorPositions();
}
#endif
updateAnchorList();
// Update positions and remove bad anchors
pruneAnchors();
#ifdef VERBOSE
if (getActualLength() > m_prevLength + 0.2)
{
// throw std::runtime_error("Large length change!");
std::cout << "Previous length " << m_prevLength << " actual length " << getActualLength() << std::endl;
}
#endif
calculateAndApplyForce(dt);
// Do this last so the ghost object gets populated with collisions before it is deleted
updateCollisionObject();
assert(invariant());
}
// The step function is what's called from other places in NTRT.
void tgBulletCompressionSpring::step(double dt)
{
if (dt <= 0.0)
{
throw std::invalid_argument("dt is not positive!");
}
calculateAndApplyForce(dt);
// If the spring distance has gone negative, crash the simulator on purpose.
// TO-DO: find a way to apply a hard stop here instead.
if( getCurrentSpringLength() <= 0.0)
{
throw std::runtime_error("Compression spring has negative length, simulation stopping. Increase your stiffness coefficient. TO-DO: implement a 'hard stop' inside the step method of tgBulletCompressionSpring instead of crashing the simulator.");
}
assert(invariant());
}
void TwoParticleForce::calculateAndApplyForce(Atom *atom1, Atom *atom2)
{
calculateAndApplyForce(atom1, atom2, Vector3::zeroVector());
}
void KohenThreeParticleForce::calculateAndApplyForce(Atom *atom1, Atom *atom2, Atom *atom3)
{
calculateAndApplyForce(atom1, atom2, atom3, Vector3::zeroVector(), Vector3::zeroVector());
}
