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need to project the impulse on the normal to prevent sliding

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jingyuc
2021-08-21 15:54:34 -04:00
parent 70ec2f9d46
commit 368385d5ad
4 changed files with 84 additions and 94 deletions
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examples/ReducedDeformableDemo/FreeFall.cpp
+13 -8
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@@ -108,11 +108,15 @@ public:
deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0));
// std::cout << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[0] << "\t" << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[1] << "\t" << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[2] << "\n";
}
// static int num = 0;
for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
{
deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
// std::cout << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[0] << "\t" << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[1] << "\t" << rsb->m_nodes[rsb->m_fixedNodes[p]].m_x[2] << "\n";
// std::cout << rsb->m_nodes[rsb->m_contactNodesList[p]].m_x[0] << "\t" << rsb->m_nodes[rsb->m_contactNodesList[p]].m_x[1] << "\t" << rsb->m_nodes[rsb->m_contactNodesList[p]].m_x[2] << "\n";
// std::cout << rsb->m_contactNodesList[p] << "\n";
// num++;
}
// if(num > 0) exit(100);
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 5, 0), 0.1, btVector3(1, 1, 1));
@@ -134,7 +138,7 @@ void FreeFall::initPhysics()
m_broadphase = new btDbvtBroadphase();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
btVector3 gravity = btVector3(0, 0, 0);
btVector3 gravity = btVector3(0, -10, 0);
reducedSoftBodySolver->setGravity(gravity);
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
@@ -157,10 +161,11 @@ void FreeFall::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);
// rsb->scale(btVector3(1, 1, 1));
rsb->translate(btVector3(0, 0, 0)); //TODO: add back translate and scale
rsb->translate(btVector3(0, 10, 0)); //TODO: add back translate and scale
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(0.5);
rsb->setDamping(damping_alpha, damping_beta);
// rsb->setFriction(200);
// no fixed nodes
// rsb->setFixedNodes(0);
@@ -174,7 +179,7 @@ void FreeFall::initPhysics()
btSoftBodyHelpers::generateBoundaryFaces(rsb);
// rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
rsb->setRigidVelocity(btVector3(0, 0, 1));
// rsb->setRigidVelocity(btVector3(0, 0, 0));
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
// btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
@@ -183,14 +188,14 @@ void FreeFall::initPhysics()
}
// create a static rigid box as the ground
{
btBoxShape* groundShape = createBoxShape(btVector3(btScalar(3), btScalar(3), btScalar(3)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(3), btScalar(3), btScalar(3)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
// groundTransform.setOrigin(btVector3(0, -50, 0));
groundTransform.setOrigin(btVector3(0, 0, 6));
groundTransform.setOrigin(btVector3(0, -50, 0));
// groundTransform.setOrigin(btVector3(0, 0, 6));
{
btScalar mass(0.);
createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));