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re-work the simulation time loop in order to support fixed constraints. still wip

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This commit is contained in:
jingyuc
2021-07-30 02:08:27 -04:00
parent 5d17353269
commit a37d23fa24
7 changed files with 201 additions and 111 deletions
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10
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -95,9 +95,9 @@ public:
btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
if (first_step /* && !rsb->m_bUpdateRtCst*/)
{
// getDeformedShape(rsb, 0, 0.5);
getDeformedShape(rsb, 0, 0.5);
first_step = false;
rsb->updateReducedDofs();
rsb->mapToReducedDofs();
}
float internalTimeStep = 1. / 60.f;
@@ -138,7 +138,7 @@ void BasicTest::initPhysics()
m_broadphase = new btDbvtBroadphase();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
reducedSoftBodySolver->setDamping(damping_alpha, damping_beta);
btVector3 gravity = btVector3(0, -9.8, 0);
btVector3 gravity = btVector3(0, 0, 0);
reducedSoftBodySolver->setGravity(gravity);
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
@@ -164,7 +164,7 @@ void BasicTest::initPhysics()
rsb->translate(btVector3(0, 4, 0)); //TODO: add back translate and scale
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(1);
// rsb->setFixedNodes();
rsb->setFixedNodes();
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;
@@ -175,7 +175,7 @@ void BasicTest::initPhysics()
// rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
// rsb->setRigidVelocity(btVector3(0, 1, 0));
rsb->setRigidAngularVelocity(btVector3(10, 0, 0));
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
// btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
// getDeformableDynamicsWorld()->addForce(rsb, gravity_force);