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initial translation WIP

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This commit is contained in:
jyc-n
2021-07-28 00:03:51 -04:00
parent 67b58428e8
commit bfa74dbacd
7 changed files with 67 additions and 23 deletions
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9
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -95,7 +95,7 @@ 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();
}
@@ -133,13 +133,14 @@ void BasicTest::initPhysics()
m_broadphase = new btDbvtBroadphase();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
reducedSoftBodySolver->setDamping(damping_alpha, damping_beta);
btVector3 gravity = btVector3(0, 0, 0);
reducedSoftBodySolver->setGravity(gravity);
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(reducedSoftBodySolver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
@@ -153,9 +154,9 @@ void BasicTest::initPhysics()
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
getDeformableDynamicsWorld()->addSoftBody(rsb);
// rsb->scale(btVector3(1, 1, 1));
// rsb->translate(btVector3(0, 0, 0));
rsb->getCollisionShape()->setMargin(0.1);
// rsb->scale(btVector3(1, 1, 1));
rsb->translate(btVector3(0, 2, 0)); //TODO: add back translate and scale
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(1);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects