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normal impulse for multibody vs reduced deformable contact is working

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jingyuc
2021-09-15 16:45:20 -04:00
parent 19375d6569
commit bfd3d1cd8d
3 changed files with 65 additions and 23 deletions
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examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp
+3 -2
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@@ -217,9 +217,8 @@ void ReducedMotorGrasp::initPhysics()
m_broadphase = new btDbvtBroadphase();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
// btVector3 gravity = btVector3(0, 0, 0);
btVector3 gravity = btVector3(0, 0, 0);
// btVector3 gravity = btVector3(0, -9.81, 0);
btVector3 gravity = btVector3(0, 1, 0);
reducedSoftBodySolver->setGravity(gravity);
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
@@ -331,6 +330,8 @@ void ReducedMotorGrasp::initPhysics()
rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta);
rsb->setRigidVelocity(btVector3(0, 1, 0));
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body