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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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examples/ReducedDeformableDemo/FreeFall.cpp
+31 -29
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@@ -30,10 +30,10 @@
// static btScalar E = 50;
// static btScalar nu = 0.3;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.01;
static btScalar damping_beta = 0.0;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 10;
static int num_modes = 20;
class FreeFall : public CommonDeformableBodyBase
{
@@ -56,32 +56,33 @@ public:
void resetCamera()
{
// float dist = 10;
// float pitch = -20;
// float yaw = 90;
// float targetPos[3] = {0, 0, 0.5};
float dist = 20;
float pitch = -30;
float yaw = 125;
float targetPos[3] = {-2, 0, 2};
float dist = 6;
float pitch = -20;
float yaw = 90;
float targetPos[3] = {0, 2, 0};
// float dist = 20;
// float pitch = -30;
// float yaw = 125;
// float targetPos[3] = {-2, 0, 2};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
void Ctor_RbUpStack()
{
float mass = 10;
btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
// btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
btTransform startTransform;
startTransform.setIdentity();
// startTransform.setOrigin(btVector3(0, 12, 0));
// btRigidBody* rb0 = createRigidBody(mass, startTransform, shape);
// rb0->setLinearVelocity(btVector3(0, 0, 0));
startTransform.setOrigin(btVector3(0,4,-1));
startTransform.setOrigin(btVector3(0,10,0));
// startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0));
btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
rb1->setActivationState(DISABLE_DEACTIVATION);
rb1->setLinearVelocity(btVector3(0, 0, 4));
// rb1->setLinearVelocity(btVector3(0, 0, 4));
}
void stepSimulation(float deltaTime)
@@ -104,18 +105,18 @@ public:
// btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), flag);
btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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));
}
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));
}
// 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));
// }
// 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));
// }
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));
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 10, 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, 5, 0), 0.1, btVector3(1, 1, 1));
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 10, 0), 0.1, btVector3(1, 1, 1));
}
}
}
@@ -145,18 +146,18 @@ void FreeFall::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 10, 0));
init_transform.setOrigin(btVector3(0, 5, 0));
init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
rsb->setStiffnessScale(50);
rsb->setStiffnessScale(25);
rsb->setDamping(damping_alpha, damping_beta);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
@@ -171,6 +172,8 @@ void FreeFall::initPhysics()
// rsb->setRigidVelocity(btVector3(0, 0, 1));
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
}
// add a few rigid bodies
Ctor_RbUpStack();
// create a static rigid box as the ground
{
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
@@ -263,8 +266,7 @@ void FreeFall::initPhysics()
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
// add a few rigid bodies
// Ctor_RbUpStack();
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
m_dynamicsWorld->setGravity(gravity);
}