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add cfm and penetration correction to the velocity error for the contact constraint. clean up btReducedSoftBody class. momenumtum conservation WIP

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This commit is contained in:
jingyuc
2021-10-07 15:10:57 -04:00
parent 1949710131
commit 07cfa9a433
20 changed files with 1585 additions and 3324 deletions
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9
examples/ReducedDeformableDemo/FreeFall.cpp
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@@ -151,15 +151,15 @@ void FreeFall::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);
rsb->scale(btVector3(1, 1, 0.5));
// rsb->scale(btVector3(1, 1, 0.5));
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 10, 0));
init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 4.0));
// init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 4.0));
rsb->transform(init_transform);
rsb->setStiffnessScale(20);
rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
@@ -175,7 +175,7 @@ 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)));
@@ -263,6 +263,7 @@ void FreeFall::initPhysics()
getDeformableDynamicsWorld()->setLineSearch(false);
getDeformableDynamicsWorld()->setUseProjection(false);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;