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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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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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21
examples/ReducedDeformableDemo/ModeVisualizer.cpp
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@@ -28,7 +28,7 @@
static int start_mode = 6;
static int num_modes = 20;
static int num_modes = 40;
static btScalar visualize_mode = 0;
static btScalar frequency_scale = 1;
@@ -44,6 +44,19 @@ class ModeVisualizer : public CommonDeformableBodyBase
rsb->m_nodes[i].m_x[k] = rsb->m_x0[i][k] + rsb->m_modes[mode_n][3 * i + k] * time_term;
}
btVector3 computeMassWeightedColumnSum(btReducedSoftBody* rsb, const int mode_n)
{
btVector3 sum(0, 0, 0);
for (int i = 0; i < rsb->m_nodes.size(); ++i)
{
for (int k = 0; k < 3; ++k)
{
sum[k] += rsb->m_nodalMass[i] * rsb->m_modes[mode_n][3 * i + k];
}
}
return sum;
}
public:
ModeVisualizer(struct GUIHelperInterface* helper)
: CommonDeformableBodyBase(helper)
@@ -79,6 +92,10 @@ public:
int n_mode = floor(visualize_mode);
btScalar scale = sin(sqrt(rsb->m_eigenvalues[n_mode]) * sim_time / frequency_scale);
getDeformedShape(rsb, n_mode, scale);
btVector3 mass_weighted_column_sum = computeMassWeightedColumnSum(rsb, visualize_mode);
std::cout << "mode=" << int(visualize_mode) << "\t" << mass_weighted_column_sum[0] << "\t"
<< mass_weighted_column_sum[1] << "\t"
<< mass_weighted_column_sum[2] << "\n";
}
virtual void renderScene()
@@ -127,7 +144,7 @@ void ModeVisualizer::initPhysics()
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 2, 0));
init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
btSoftBodyHelpers::generateBoundaryFaces(rsb);
}