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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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examples/ReducedDeformableDemo/ReducedCollide.cpp
+5 -3
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@@ -75,7 +75,7 @@ public:
void Ctor_RbUpStack()
{
float mass = 55;
float mass = 28;
// float mass = 8;
btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
@@ -209,7 +209,7 @@ void ReducedCollide::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);
rsb->scale(btVector3(1, 1, 1));
// rsb->scale(btVector3(0.5, 0.5, 0.5));
btTransform init_transform;
init_transform.setIdentity();
@@ -217,7 +217,7 @@ void ReducedCollide::initPhysics()
// init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
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
@@ -230,6 +230,7 @@ void ReducedCollide::initPhysics()
rsb->setRigidVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
b3Printf("total mass: %e", rsb->getTotalMass());
}
// rigidBar();
@@ -298,6 +299,7 @@ void ReducedCollide::initPhysics()
getDeformableDynamicsWorld()->setUseProjection(false);
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;