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make the impulse scaled with nodal mass. all binary mode files contains all modes info.

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This commit is contained in:
jingyuc
2021-07-19 15:26:00 -04:00
parent f6dbbd4e66
commit 237333d030
6 changed files with 11 additions and 14 deletions
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14
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -223,13 +223,6 @@ void BasicTest::initPhysics()
for (int k = 0; k < 3; ++k)
psb->m_x0[3 * i + k] = psb->m_nodes[i].m_x[k];
std::ofstream outfile1("before_map.txt");
for (int i = 0; i < psb->m_nodes.size(); ++i) {
for (int k = 0; k < 3; ++k)
outfile1 << psb->m_nodes[i].m_x[k] << '\n';
}
outfile1.close();
getDeformableDynamicsWorld()->addSoftBody(psb);
psb->scale(btVector3(2, 2, 2));
psb->translate(btVector3(0, 7, 0));
@@ -242,6 +235,13 @@ void BasicTest::initPhysics()
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
psb->m_sleepingThreshold = 0;
btSoftBodyHelpers::generateBoundaryFaces(psb);
std::string M_file("../../../examples/SoftDemo/M_diag_mat.bin");
btAlignedObjectArray<btScalar> mass_array;
btSoftBodyHelpers::readBinary(mass_array, 0, 3 * m_nFull, 3 * m_nFull, M_file.c_str());
// assign mass to nodes
for (int i = 0; i < psb->m_nodes.size(); ++i)
psb->m_nodes[i].m_im = mass_array[3 * i]; // here we use m_im as the actual mass not the mass inverse
psb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));