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demo setup

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This commit is contained in:
jingyuc
2021-09-13 22:48:08 -04:00
parent 1c8afcf54f
commit 593f387a06
10 changed files with 584 additions and 542 deletions
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53
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -31,9 +31,8 @@
// static btScalar nu = 0.3;
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 = 1;
static int num_modes = 20;
class BasicTest : public CommonDeformableBodyBase
{
@@ -85,13 +84,13 @@ public:
void Ctor_RbUpStack()
{
float mass = 0.5;
btCollisionShape* shape = new btBoxShape(btVector3(2, 2, 2));
float mass = 2;
btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
btRigidBody* rb = createRigidBody(mass, startTransform, shape);
rb->setLinearVelocity(btVector3(0,+COLLIDING_VELOCITY, 0));
startTransform.setOrigin(btVector3(0,8,1));
btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
rb1->setActivationState(DISABLE_DEACTIVATION);
}
void checkMomentum(btReducedSoftBody* rsb)
@@ -163,23 +162,23 @@ public:
// btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), flag);
btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
btVector3 origin = rsb->getRigidTransform().getOrigin();
btVector3 line_x = rsb->getRigidTransform().getBasis() * 2 * btVector3(1, 0, 0) + origin;
btVector3 line_y = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 1, 0) + origin;
btVector3 line_z = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 0, 1) + origin;
// btVector3 origin = rsb->getRigidTransform().getOrigin();
// btVector3 line_x = rsb->getRigidTransform().getBasis() * 2 * btVector3(1, 0, 0) + origin;
// btVector3 line_y = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 1, 0) + origin;
// btVector3 line_z = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 0, 1) + origin;
deformableWorld->getDebugDrawer()->drawLine(origin, line_x, btVector3(1, 0, 0));
deformableWorld->getDebugDrawer()->drawLine(origin, line_y, btVector3(0, 1, 0));
deformableWorld->getDebugDrawer()->drawLine(origin, line_z, btVector3(0, 0, 1));
// deformableWorld->getDebugDrawer()->drawLine(origin, line_x, btVector3(1, 0, 0));
// deformableWorld->getDebugDrawer()->drawLine(origin, line_y, btVector3(0, 1, 0));
// deformableWorld->getDebugDrawer()->drawLine(origin, line_z, btVector3(0, 0, 1));
for (int p = 0; p < rsb->m_fixedNodes.size(); ++p)
{
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";
}
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 2, 0), 0.1, btVector3(1, 1, 1));
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 4, 0), 0.1, btVector3(1, 1, 1));
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 2, 0), 0.1, btVector3(1, 1, 1));
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 4, 0), 0.1, btVector3(1, 1, 1));
}
}
}
@@ -221,7 +220,7 @@ void BasicTest::initPhysics()
// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
rsb->setStiffnessScale(100);
rsb->setStiffnessScale(200);
rsb->setDamping(damping_alpha, damping_beta);
// set fixed nodes
@@ -251,7 +250,23 @@ void BasicTest::initPhysics()
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
// add a few rigid bodies
// Ctor_RbUpStack(); // TODO: no rigid body for now
Ctor_RbUpStack();
// create a static rigid box as the ground
{
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
btBoxShape* groundShape = createBoxShape(btVector3(btScalar(10), btScalar(2), btScalar(10)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, 0, 0));
{
btScalar mass(0.);
createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
}
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
// {