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kinematic tested. specified delta_v as a cosine function.

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This commit is contained in:
jingyuc
2021-07-15 17:30:08 -04:00
parent d390360f9e
commit 4b6eaeed4c
7 changed files with 43 additions and 65 deletions
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examples/ReducedDeformableDemo/BasicTest.cpp
+15 -24
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@@ -53,24 +53,16 @@ class BasicTest : public CommonDeformableBodyBase
void mapToReducedDofs(btSoftBody* psb)
{
btAssert(psb->m_reducedDofs.size() == m_nReduced);
for (int j = 0; j < m_nReduced; ++j) {
if (j == selected_mode)
psb->m_reducedDofs[j] = sin(psb->m_eigenvalues[j] * sim_time);
else
psb->m_reducedDofs[j] = 0;
for (int j = 0; j < m_nReduced; ++j)
{
for (int i = 0; i < m_nFull; ++i)
for (int k = 0; k < 3; ++k)
{
int idx_f = 3 * i + k;
psb->m_reducedDofs[j] = psb->m_modes[j][idx_f] * (psb->m_nodes[i].m_x[k] - psb->m_x0[idx_f]);
// psb->m_reducedVelocity[j] = psb->m_modes[j][idx_f] * psb->m_nodes[i].m_v[k];
}
}
// for (int j = 0; j < m_nReduced; ++j)
// {
// // if (j != selected_mode)
// // continue;
// for (int i = 0; i < m_nFull; ++i)
// for (int k = 0; k < 3; ++k)
// {
// int idx_f = 3 * i + k;
// psb->m_reducedNodes[j] = psb->m_modes[j][idx_f] * (psb->m_nodes[i].m_x[k] - psb->m_x0[idx_f]);
// psb->m_reducedVelocity[j] = psb->m_modes[j][idx_f] * psb->m_nodes[i].m_v[k];
// }
// }
}
// compute full degree of freedoms
@@ -79,14 +71,12 @@ class BasicTest : public CommonDeformableBodyBase
btAssert(psb->m_nodes.size() == m_nFull);
for (int j = 0; j < m_nReduced; ++j)
{
// if (j != selected_mode)
// continue;
for (int i = 0; i < m_nFull; ++i)
for (int k = 0; k < 3; ++k)
{
int idx_f = 3 * i + k;
psb->m_nodes[i].m_x[k] = psb->m_x0[idx_f] + psb->m_modes[j][idx_f] * psb->m_reducedDofs[j];
psb->m_nodes[i].m_v[k] = psb->m_modes[j][idx_f] * psb->m_reducedVelocity[j];
// psb->m_nodes[i].m_v[k] = psb->m_modes[j][idx_f] * psb->m_reducedVelocity[j];
}
}
}
@@ -150,6 +140,7 @@ public:
{
getDeformedShape(psb, 0);
first_step = false;
mapToReducedDofs(psb);
}
// compute reduced dofs
@@ -157,10 +148,10 @@ public:
psb->m_reducedVelocity.resize(m_nReduced);
sim_time += deltaTime;
// std::cout << psb->m_eigenvalues[0] << "\t" << sim_time << "\t" << deltaTime << "\t" << sin(psb->m_eigenvalues[0] * sim_time) << "\n";
mapToReducedDofs(psb);
float internalTimeStep = 1. / 60.f;
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
// float internalTimeStep = 1. / 60.f;
float internalTimeStep = 1;
m_dynamicsWorld->stepSimulation(1, 1, internalTimeStep);
// for (int i = 0; i < m_nReduced; ++i)
// std::cout << psb->m_reducedDofs[i] << "\t";
@@ -213,6 +204,7 @@ void BasicTest::initPhysics()
std::string filename("../../../examples/SoftDemo/mesh.vtk");
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
m_nFull = psb->m_nodes.size();
psb->m_reducedModel = true;
// read in eigenmodes, stiffness and mass matrices
std::string eigenvalues_file("../../../examples/SoftDemo/eigenvalues.bin");
@@ -295,7 +287,6 @@ void BasicTest::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, m_massSpring);
m_forces.push_back(m_massSpring);
}
getDeformableDynamicsWorld()->setReducedModelFlag(false);
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
getDeformableDynamicsWorld()->setUseProjection(true);