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need to update the rigid frame every time when the impulse is applied. reduced external force needs to be zeroed in every iteration.

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jingyuc
2021-08-09 11:23:52 -04:00
parent 4f66d8bb87
commit 0acf18f246
4 changed files with 66 additions and 41 deletions
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6
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -106,8 +106,8 @@ public:
// // rsb->mapToReducedDofs();
// }
float internalTimeStep = 1. / 60.f;
// float internalTimeStep = 1e-4;
// float internalTimeStep = 1. / 60.f;
float internalTimeStep = 1e-3;
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
}
@@ -185,7 +185,7 @@ void BasicTest::initPhysics()
// rsb->scale(btVector3(1, 1, 1));
rsb->translate(btVector3(0, 4, 0)); //TODO: add back translate and scale
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(1);
rsb->setStiffnessScale(100);
rsb->setFixedNodes();
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body