Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-08-29 14:38:27 +00:00
Code Issues Packages Projects Releases Wiki Activity

simple rigid translation is working.

Browse Source
This commit is contained in:
jingyuc
2021-07-26 11:28:37 -04:00
parent 6f3dd32f37
commit 9baee29300
7 changed files with 208 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
examples/ReducedDeformableDemo/BasicTest.cpp
View File

@@ -68,6 +68,8 @@ class BasicTest : public CommonDeformableBodyBase
btAssert(rsb->m_nodes.size() == m_nFull);
btAlignedObjectArray<btVector3> delta_x;
delta_x.resize(m_nFull);
btVector3 origin = rsb->getWorldTransform().getOrigin();
for (int i = 0; i < m_nFull; ++i)
{
for (int k = 0; k < 3; ++k)
@@ -77,7 +79,7 @@ class BasicTest : public CommonDeformableBodyBase
for (int j = 0; j < m_nReduced; ++j)
delta_x[i][k] += rsb->m_modes[j][3 * i + k] * rsb->m_reducedDofs[j];
// get new coordinates
rsb->m_nodes[i].m_x[k] = rsb->m_x0[3 * i + k] + delta_x[i][k];
rsb->m_nodes[i].m_x[k] = rsb->m_x0[3 * i + k] + delta_x[i][k] + origin[k]; //TODO: assume the initial origin is at (0,0,0)
}
}
@@ -240,8 +242,13 @@ void BasicTest::initPhysics()
btAlignedObjectArray<btScalar> mass_array;
btReducedSoftBodyHelpers::readBinary(mass_array, 0, 3 * m_nFull, 3 * m_nFull, M_file.c_str());
// assign mass to nodes
btScalar mass = 0;
for (int i = 0; i < rsb->m_nodes.size(); ++i)
{
rsb->m_nodes[i].m_im = mass_array[3 * i]; // here we use m_im as the actual mass not the mass inverse
mass += mass_array[3 * i];
}
rsb->setMass(mass);
rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));