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rotation is working

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This commit is contained in:
jyc-n
2021-07-26 21:48:57 -04:00
parent 7678545e76
commit 0983d36eff
5 changed files with 38 additions and 43 deletions
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29
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -27,12 +27,12 @@
#include "../Utils/b3ResourcePath.h"
///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
static btScalar E = 50;
static btScalar nu = 0.3;
// static btScalar E = 50;
// static btScalar nu = 0.3;
// static btScalar damping_alpha = 0.1;
// static btScalar damping_beta = 0.01;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0;
// static btScalar damping_alpha = 0.0;
// static btScalar damping_beta = 0.0;
static btScalar COLLIDING_VELOCITY = 0;
class BasicTest : public CommonDeformableBodyBase
@@ -69,7 +69,7 @@ public:
void resetCamera()
{
float dist = 20;
float dist = 10;
float pitch = 0;
float yaw = 90;
float targetPos[3] = {0, 3, 0};
@@ -89,28 +89,17 @@ public:
void stepSimulation(float deltaTime)
{
btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
// 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, 0.5);
first_step = false;
rsb->updateReducedDofs();
// std::cout << rsb->m_reducedDofs[0] << "\n";
}
// compute reduced dofs
sim_time += deltaTime;
// std::cout << rsb->m_eigenvalues[0] << "\t" << sim_time << "\t" << deltaTime << "\t" << sin(rsb->m_eigenvalues[0] * sim_time) << "\n";
float internalTimeStep = 1. / 60.f;
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
// float internalTimeStep = 1;
// m_dynamicsWorld->stepSimulation(1, 1, internalTimeStep);
// map reduced dof back to full
rsb->updateFullDofs();
}
virtual void renderScene()
@@ -161,10 +150,10 @@ void BasicTest::initPhysics()
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->scale(btVector3(2, 2, 2));
rsb->translate(btVector3(0, 7, 0));
// rsb->scale(btVector3(1, 1, 1));
// rsb->translate(btVector3(0, 0, 0));
rsb->getCollisionShape()->setMargin(0.1);
rsb->setTotalMass(0.5);
// rsb->setTotalMass(0.5);
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;