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

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jingyuc
2021-09-12 21:53:23 -04:00
parent 9d1aafc51c
commit b4efd91476
7 changed files with 51 additions and 64 deletions
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examples/ReducedDeformableDemo/FreeFall.cpp
+5 -5
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@@ -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 = 10;
@@ -157,11 +157,11 @@ void FreeFall::initPhysics()
btTransform init_transform;
init_transform.setIdentity();
// init_transform.setOrigin(btVector3(0, 2.5, 0));
init_transform.setOrigin(btVector3(0, 10, 0));
// init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
// init_transform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0));
// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
// init_transform.setRotation(btQuaternion(SIMD_PI / 2.0, 0, 0));
// init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
// rsb->setTotalMass(0.5);
@@ -275,7 +275,7 @@ void FreeFall::initPhysics()
getDeformableDynamicsWorld()->setLineSearch(false);
getDeformableDynamicsWorld()->setUseProjection(false);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0;
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.3;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;