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add new btReducedSoftBody and btReduceDeformableSolver class

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This commit is contained in:
jingyuc
2021-07-23 16:20:09 -04:00
parent 87e20f450b
commit 6f3dd32f37
13 changed files with 258 additions and 186 deletions
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10
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -17,7 +17,7 @@
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h"
#include "BulletSoftBody/btDeformableBodySolver.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
@@ -133,7 +133,7 @@ public:
void stepSimulation(float deltaTime)
{
btReducedSoftBody* rsb = static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0];
btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
// TODO: remove this. very hacky way of adding initial deformation
if (first_step && !rsb->m_bUpdateRtCst)
@@ -186,13 +186,13 @@ void BasicTest::initPhysics()
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(deformableBodySolver);
sol->setDeformableSolver(reducedSoftBodySolver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);