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no longer need to use start_modes, because all the rigid modes are not saved in .bin files in the preprocessor

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This commit is contained in:
jingyuc
2021-11-16 21:05:48 -05:00
parent 2d08d4047a
commit 007eea15cb
15 changed files with 30 additions and 41 deletions
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2
examples/ReducedDeformableDemo/ConservationTest.cpp
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@@ -216,7 +216,7 @@ void ConservationTest::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);

17
examples/ReducedDeformableDemo/FreeFall.cpp
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@@ -32,7 +32,6 @@
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.00001;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 20;
class FreeFall : public CommonDeformableBodyBase
@@ -109,10 +108,10 @@ public:
// {
// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0));
// }
for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
{
deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
}
// for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
// {
// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
// }
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 5, 0), 0.1, btVector3(1, 1, 1));
@@ -147,7 +146,7 @@ void FreeFall::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);
@@ -162,6 +161,8 @@ void FreeFall::initPhysics()
rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta);
rsb->setTotalMass(10);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
rsb->m_cfg.kDF = 0;
@@ -175,7 +176,7 @@ void FreeFall::initPhysics()
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
}
// add a few rigid bodies
Ctor_RbUpStack();
// Ctor_RbUpStack();
// create a static rigid box as the ground
{
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
@@ -264,7 +265,7 @@ void FreeFall::initPhysics()
getDeformableDynamicsWorld()->setUseProjection(false);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.5;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-6;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;

3
examples/ReducedDeformableDemo/FrictionSlope.cpp
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@@ -32,7 +32,6 @@
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.001;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 20;
class FrictionSlope : public CommonDeformableBodyBase
@@ -188,7 +187,7 @@ void FrictionSlope::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);

3
examples/ReducedDeformableDemo/ModeVisualizer.cpp
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@@ -27,7 +27,6 @@
#include "../Utils/b3ResourcePath.h"
static int start_mode = 6;
static int num_modes = 20;
static btScalar visualize_mode = 0;
static btScalar frequency_scale = 1;
@@ -136,7 +135,7 @@ void ModeVisualizer::initPhysics()
// create volumetric soft body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);

3
examples/ReducedDeformableDemo/ReducedCollide.cpp
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@@ -32,7 +32,6 @@
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0;
static btScalar COLLIDING_VELOCITY = 4;
static int start_mode = 6;
static int num_modes = 20;
class ReducedCollide : public CommonDeformableBodyBase
@@ -205,7 +204,7 @@ void ReducedCollide::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);

3
examples/ReducedDeformableDemo/ReducedGrasp.cpp
View File

@@ -31,7 +31,6 @@
// static btScalar nu = 0.3;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0001;
static int start_mode = 6;
static int num_modes = 20;
class ReducedGrasp : public CommonDeformableBodyBase
@@ -279,7 +278,7 @@ void ReducedGrasp::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.015);

3
examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp
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@@ -40,7 +40,6 @@ static btScalar sGripperVerticalVelocity = 0.f;
static btScalar sGripperClosingTargetVelocity = 0.f;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0001;
static int start_mode = 6;
static int num_modes = 20;
static float friction = 1.;
struct TetraCube
@@ -317,7 +316,7 @@ void ReducedMotorGrasp::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);

3
examples/ReducedDeformableDemo/ReducedPress.cpp
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@@ -29,7 +29,6 @@
///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0;
static int start_mode = 6;
static int num_modes = 20;
class ReducedPress : public CommonDeformableBodyBase
@@ -189,7 +188,7 @@ void ReducedPress::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.015);

3
examples/ReducedDeformableDemo/Springboard.cpp
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@@ -28,7 +28,6 @@
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0001;
static int start_mode = 6;
static int num_modes = 20;
class Springboard : public CommonDeformableBodyBase
@@ -142,7 +141,7 @@ void Springboard::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);