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collision impulse starts to look reasonable, but the motion is still strange.

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This commit is contained in:
jingyuc
2021-08-18 14:31:59 -04:00
parent eacdbe67a0
commit 0444fea9eb
5 changed files with 189 additions and 148 deletions
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23
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -30,7 +30,7 @@
// static btScalar E = 50;
// static btScalar nu = 0.3;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.01;
static btScalar damping_beta = 0.0;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 1;
@@ -48,7 +48,8 @@ class BasicTest : public CommonDeformableBodyBase
// rsb->m_nodes[i].m_x[k] += rsb->m_modes[mode_n][3 * i + k] * scale;
rsb->m_reducedDofs[mode_n] = scale;
rsb->mapToFullPosition(rsb->getWorldTransform());
rsb->m_reducedDofsBuffer[mode_n] = scale;
rsb->mapToFullPosition(rsb->getRigidTransform());
std::cout << "-----------\n";
std::cout << rsb->m_nodes[0].m_x[0] << '\t' << rsb->m_nodes[0].m_x[1] << '\t' << rsb->m_nodes[0].m_x[2] << '\n';
std::cout << "-----------\n";
@@ -96,13 +97,13 @@ public:
void stepSimulation(float deltaTime)
{
// TODO: remove this. very hacky way of adding initial deformation
// btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
// if (first_step /* && !rsb->m_bUpdateRtCst*/)
// {
// getDeformedShape(rsb, 0, 1);
// first_step = false;
// // rsb->mapToReducedDofs();
// }
// btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
// if (first_step /* && !rsb->m_bUpdateRtCst*/)
// {
// getDeformedShape(rsb, 0, 1);
// first_step = false;
// // rsb->mapToReducedDofs();
// }
float internalTimeStep = 1. / 60.f;
// float internalTimeStep = 1e-3;
@@ -182,7 +183,7 @@ void BasicTest::initPhysics()
// rsb->scale(btVector3(1, 1, 1)); //TODO: add back scale
rsb->translate(btVector3(0, 4, 0));
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(100);
rsb->setStiffnessScale(20);
rsb->setDamping(damping_alpha, damping_beta);
// set fixed nodes
@@ -212,7 +213,7 @@ void BasicTest::initPhysics()
getDeformableDynamicsWorld()->setUseProjection(true);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-6;
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 0;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
// add a few rigid bodies