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re-work the external force application. clean up position and velocity update

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This commit is contained in:
jingyuc
2021-08-02 11:31:09 -04:00
parent a37d23fa24
commit 35ec8b39a7
7 changed files with 223 additions and 134 deletions
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examples/ReducedDeformableDemo/BasicTest.cpp
+18 -12
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@@ -35,7 +35,7 @@ static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.01;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 2;
static int num_modes = 1;
class BasicTest : public CommonDeformableBodyBase
{
@@ -45,9 +45,15 @@ class BasicTest : public CommonDeformableBodyBase
// get deformed shape
void getDeformedShape(btReducedSoftBody* rsb, const int mode_n, const btScalar scale = 1)
{
for (int i = 0; i < rsb->m_nodes.size(); ++i)
for (int k = 0; k < 3; ++k)
rsb->m_nodes[i].m_x[k] += rsb->m_modes[mode_n][3 * i + k] * scale;
// for (int i = 0; i < rsb->m_nodes.size(); ++i)
// for (int k = 0; k < 3; ++k)
// rsb->m_nodes[i].m_x[k] += rsb->m_modes[mode_n][3 * i + k] * scale;
rsb->m_reducedDofs[mode_n] = scale;
rsb->mapToFullDofs();
std::cout << "-----------\n";
std::cout << rsb->m_nodes[0].m_x[0] << '\t' << rsb->m_nodes[0].m_x[1] << '\t' << rsb->m_nodes[0].m_x[2] << '\n';
std::cout << "-----------\n";
}
public:
@@ -92,13 +98,13 @@ public:
void stepSimulation(float deltaTime)
{
// 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->mapToReducedDofs();
}
// btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
// if (first_step /* && !rsb->m_bUpdateRtCst*/)
// {
// getDeformedShape(rsb, 0, 1);
// first_step = false;
// // rsb->mapToReducedDofs();
// }
float internalTimeStep = 1. / 60.f;
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
@@ -175,7 +181,7 @@ void BasicTest::initPhysics()
// rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
// rsb->setRigidVelocity(btVector3(0, 1, 0));
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
// btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
// getDeformableDynamicsWorld()->addForce(rsb, gravity_force);