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clean up. now the inertia tensor is calculated based on geometry, and it is updated everytime step

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This commit is contained in:
jingyuc
2021-07-27 15:59:25 -04:00
parent 24eb021ed6
commit 67b58428e8
7 changed files with 123 additions and 35 deletions
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24
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -31,9 +31,11 @@
// static btScalar nu = 0.3;
// static btScalar damping_alpha = 0.1;
// static btScalar damping_beta = 0.01;
// static btScalar damping_alpha = 0.0;
// static btScalar damping_beta = 0.0;
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 = 2;
class BasicTest : public CommonDeformableBodyBase
{
@@ -91,9 +93,9 @@ public:
{
// TODO: remove this. very hacky way of adding initial deformation
btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
if (first_step && !rsb->m_bUpdateRtCst)
if (first_step /* && !rsb->m_bUpdateRtCst*/)
{
// getDeformedShape(rsb, 0, 0.5);
getDeformedShape(rsb, 0, 0.5);
first_step = false;
rsb->updateReducedDofs();
}
@@ -130,6 +132,7 @@ void BasicTest::initPhysics()
m_broadphase = new btDbvtBroadphase();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
reducedSoftBodySolver->setDamping(damping_alpha, damping_beta);
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(reducedSoftBodySolver);
@@ -146,7 +149,7 @@ void BasicTest::initPhysics()
std::string filename = filepath + "mesh.vtk";
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
rsb->setReducedModes(6, 2, rsb->m_nodes.size());
rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
getDeformableDynamicsWorld()->addSoftBody(rsb);
@@ -154,6 +157,7 @@ void BasicTest::initPhysics()
// rsb->translate(btVector3(0, 0, 0));
rsb->getCollisionShape()->setMargin(0.1);
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(1);
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;
@@ -162,11 +166,13 @@ void BasicTest::initPhysics()
rsb->m_sleepingThreshold = 0;
btSoftBodyHelpers::generateBoundaryFaces(rsb);
rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
// rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
// rsb->setRigidVelocity(btVector3(0, 1, 0));
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(rsb, gravity_force);
m_forces.push_back(gravity_force);
// btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
// getDeformableDynamicsWorld()->addForce(rsb, gravity_force);
// m_forces.push_back(gravity_force);
}
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);