Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-10-23 09:10:59 +00:00
Code Issues Packages Projects Releases Wiki Activity

Tune deformable collision parameters for more stable deformable vs. deformable contact

Browse Source
This commit is contained in:
Xuchen Han
2020-04-01 17:45:20 -07:00
parent 0c6c7976ba
commit 80aa523825
4 changed files with 18 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
examples/DeformableDemo/DeformableSelfCollision.cpp
View File

@@ -50,8 +50,8 @@ public:
void stepSimulation(float deltaTime)
{
float internalTimeStep = 1. / 480.f;
m_dynamicsWorld->stepSimulation(deltaTime, 8, internalTimeStep);
float internalTimeStep = 1. / 240.f;
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
}
void addCloth(btVector3 origin);
@@ -114,12 +114,13 @@ void DeformableSelfCollision::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(40);
body->setFriction(4);
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
addCloth(btVector3(0, -0.4, 0));
addCloth(btVector3(0, -0.1, 0));
addCloth(btVector3(0, 1, 0));
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
@@ -134,29 +135,29 @@ void DeformableSelfCollision::addCloth(btVector3 origin)
btVector3(+s, h, -2*s),
btVector3(-s, h, +2*s),
btVector3(+s, h, +2*s),
20,40,
15,30,
// 4,4,
0, true, 0.0);
psb->getCollisionShape()->setMargin(0.0075);
psb->generateBendingConstraints(3);
psb->getCollisionShape()->setMargin(0.02);
psb->generateBendingConstraints(2);
psb->setTotalMass(.5);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 0.1;
psb->rotate(btQuaternion(0, SIMD_PI / 2, 0));
psb->rotate(btQuaternion(0, SIMD_PI / 4, 0));
btTransform clothTransform;
clothTransform.setIdentity();
clothTransform.setOrigin(btVector3(0,0.2,0));
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::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb);
psb->setSelfCollision(true);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1.5,0.1, true);
psb->setSpringStiffness(1);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.1, true);
psb->setSpringStiffness(2);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
m_forces.push_back(mass_spring);
btVector3 gravity = btVector3(0, -9.8, 0);