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fix bug in deformable replulsion force and adjust parameter in deformable self collision

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This commit is contained in:
Xuchen Han
2020-06-26 11:49:23 -07:00
parent 4317ddc285
commit 70a0ef65d8
3 changed files with 8 additions and 5 deletions
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4
examples/DeformableDemo/DeformableSelfCollision.cpp
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@@ -93,7 +93,7 @@ void DeformableSelfCollision::initPhysics()
{
///create a ground
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(2.5), btScalar(150.)));
groundShape->setMargin(0.0001);
groundShape->setMargin(0.02);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
@@ -152,6 +152,7 @@ void DeformableSelfCollision::addCloth(btVector3 origin)
clothTransform.setOrigin(btVector3(0,0.2,0)+origin);
psb->transform(clothTransform);
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb);
@@ -164,6 +165,7 @@ void DeformableSelfCollision::addCloth(btVector3 origin)
btVector3 gravity = btVector3(0, -9.8, 0);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
getDeformableDynamicsWorld()->setUseProjection(true);
m_forces.push_back(gravity_force);
}

1
src/BulletSoftBody/btDeformableContactConstraint.cpp
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@@ -290,6 +290,7 @@ btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolv
if (m_total_normal_dv.dot(cti.m_normal) < 0)
{
// separating in the normal direction
m_binding = false;
m_static = false;
impulse_tangent.setZero();
}

8
src/BulletSoftBody/btSoftBody.h
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@@ -1328,7 +1328,7 @@ public:
int face_penetration = 0, node_penetration = node->m_constrained;
for (int i = 0; i < 3; ++i)
face_penetration |= face->m_n[i]->m_constrained;
btScalar I_tilde = .5 * I / (1.0 + w.length2());
btScalar I_tilde = 2.0 * I / (1.0 + w.length2());
// double the impulse if node or face is constrained.
if (face_penetration > 0 || node_penetration > 0)
@@ -1354,10 +1354,10 @@ public:
btScalar vt_new = btMax(btScalar(1) - mu * delta_vn / (vt_norm + SIMD_EPSILON), btScalar(0)) * vt_norm;
I = 0.5 * mass * (vt_norm - vt_new);
vt.safeNormalize();
I_tilde = .5 * I / (1.0 + w.length2());
I_tilde = 2.0 * I / (1.0 + w.length2());
// double the impulse if node or face is constrained.
// if (face_penetration > 0 || node_penetration > 0)
// I_tilde *= 2.0;
if (face_penetration > 0 || node_penetration > 0)
I_tilde *= 2.0;
if (face_penetration <= 0)
{
for (int j = 0; j < 3; ++j)