Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-09-18 08:14:27 +00:00
Code Issues Packages Projects Releases Wiki Activity

add support for damping. the fixed constraint is working again with the deltaImpulse form

Browse Source
This commit is contained in:
jingyuc
2021-09-12 21:53:23 -04:00
parent 9d1aafc51c
commit b4efd91476
7 changed files with 51 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
examples/ReducedDeformableDemo/BasicTest.cpp
View File

@@ -30,7 +30,7 @@
// static btScalar E = 50;
// static btScalar nu = 0.3;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0;
static btScalar damping_beta = 0.01;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 1;
@@ -134,16 +134,15 @@ public:
void stepSimulation(float deltaTime)
{
// TODO: remove this. very hacky way of adding initial deformation
btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
if (first_step /* && !rsb->m_bUpdateRtCst*/)
{
getDeformedShape(rsb, 0, 1);
first_step = false;
// rsb->mapToReducedDofs();
}
// btReducedSoftBody* rsb = static_cast<btReducedSoftBody*>(static_cast<btDeformableMultiBodyDynamicsWorld*>(m_dynamicsWorld)->getSoftBodyArray()[0]);
// if (first_step /* && !rsb->m_bUpdateRtCst*/)
// {
// getDeformedShape(rsb, 0, 1);
// first_step = false;
// // rsb->mapToReducedDofs();
// }
float internalTimeStep = 1. / 60.f;
// float internalTimeStep = 1e-3;
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
// sim_time += internalTimeStep;
@@ -198,7 +197,7 @@ void BasicTest::initPhysics()
m_broadphase = new btDbvtBroadphase();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
btVector3 gravity = btVector3(0, 0, 0);
btVector3 gravity = btVector3(0, -10, 0);
reducedSoftBodySolver->setGravity(gravity);
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
@@ -224,18 +223,17 @@ void BasicTest::initPhysics()
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 4, 0));
init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta);
// set fixed nodes
// rsb->setFixedNodes(0);
// rsb->setFixedNodes(1);
// rsb->setFixedNodes(2);
// rsb->setFixedNodes(3);
rsb->setFixedNodes(0);
rsb->setFixedNodes(1);
rsb->setFixedNodes(2);
rsb->setFixedNodes(3);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
@@ -247,7 +245,7 @@ void BasicTest::initPhysics()
// rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
// rsb->setRigidVelocity(btVector3(0, 1, 0));
rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
// btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
// getDeformableDynamicsWorld()->addForce(rsb, gravity_force);
@@ -255,11 +253,11 @@ void BasicTest::initPhysics()
}
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
getDeformableDynamicsWorld()->setUseProjection(true);
getDeformableDynamicsWorld()->setUseProjection(false);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
// add a few rigid bodies
// Ctor_RbUpStack(); // TODO: no rigid body for now