Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-09-06 18:38:34 +00:00
Code Issues Packages Projects Releases Wiki Activity

add rigidTransformWorld to make the rendering works after applying initial translation. Center of mass looks right. Tested with rotating free fall

Browse Source
This commit is contained in:
jingyuc
2021-07-29 11:45:44 -04:00
parent c6c7533167
commit 5d17353269
4 changed files with 42 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
examples/ReducedDeformableDemo/BasicTest.cpp
View File

@@ -108,13 +108,18 @@ public:
{
CommonDeformableBodyBase::renderScene();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
// int flag = 0;
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* rsb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
{
btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
// btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), flag);
btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.2, btVector3(1, 1, 1));
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 2, 0), 0.2, btVector3(1, 1, 1));
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 4, 0), 0.2, btVector3(1, 1, 1));
}
}
}
@@ -156,10 +161,10 @@ void BasicTest::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);
// rsb->scale(btVector3(1, 1, 1));
// rsb->translate(btVector3(0, 2, 0)); //TODO: add back translate and scale
rsb->translate(btVector3(0, 4, 0)); //TODO: add back translate and scale
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(1);
rsb->setFixedNodes();
// rsb->setFixedNodes();
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
rsb->m_cfg.kDF = 0;
@@ -170,7 +175,7 @@ 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(10, 0, 0));
// btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
// getDeformableDynamicsWorld()->addForce(rsb, gravity_force);