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add internal force

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This commit is contained in:
jingyuc
2021-07-16 15:01:44 -04:00
parent 4b6eaeed4c
commit c24f2a72ef
6 changed files with 63 additions and 22 deletions
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23
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -93,7 +93,6 @@ public:
BasicTest(struct GUIHelperInterface* helper)
: CommonDeformableBodyBase(helper)
{
// m_linearElasticity = 0;
m_massSpring = nullptr;
m_nFull = 0;
sim_time = 0;
@@ -138,9 +137,10 @@ public:
// TODO: remove this. very hacky way of adding initial deformation
if (first_step && !psb->m_bUpdateRtCst)
{
getDeformedShape(psb, 0);
getDeformedShape(psb, 0, 100);
first_step = false;
mapToReducedDofs(psb);
// std::cout << psb->m_reducedDofs[0] << "\n";
}
// compute reduced dofs
@@ -149,13 +149,10 @@ public:
sim_time += deltaTime;
// std::cout << psb->m_eigenvalues[0] << "\t" << sim_time << "\t" << deltaTime << "\t" << sin(psb->m_eigenvalues[0] * sim_time) << "\n";
// float internalTimeStep = 1. / 60.f;
float internalTimeStep = 1;
m_dynamicsWorld->stepSimulation(1, 1, internalTimeStep);
// for (int i = 0; i < m_nReduced; ++i)
// std::cout << psb->m_reducedDofs[i] << "\t";
// std::cout << "\n";
float internalTimeStep = 1. / 60.f;
m_dynamicsWorld->stepSimulation(deltaTime, 1, internalTimeStep);
// float internalTimeStep = 1;
// m_dynamicsWorld->stepSimulation(1, 1, internalTimeStep);
// map reduced dof back to full
mapToFullDofs(psb);
@@ -217,7 +214,13 @@ void BasicTest::initPhysics()
btSoftBodyHelpers::readBinary(psb->m_Mr, m_startMode, m_nReduced, 3 * m_nFull, Mr_file.c_str());
std::string modes_file("../../../examples/SoftDemo/modes.bin");
btSoftBodyHelpers::readBinaryMat(psb->m_modes, m_startMode, m_nReduced, 3 * m_nFull, modes_file.c_str()); // default to 3D
btSoftBodyHelpers::readBinaryModes(psb->m_modes, m_startMode, m_nReduced, 3 * m_nFull, modes_file.c_str()); // default to 3D
// std::string Kr_dense_file("../../../examples/SoftDemo/Kr_dense.bin");
// btSoftBodyHelpers::readBinaryMat(psb->m_KrDense, m_startMode, m_nReduced, 3 * m_nFull, Kr_dense_file.c_str());
// std::string Mr_dense_file("../../../examples/SoftDemo/Mr_dense.bin");
// btSoftBodyHelpers::readBinaryMat(psb->m_MrDense, m_startMode, m_nReduced, 3 * m_nFull, Mr_dense_file.c_str());
// for (int i = 0; i < 3*m_nFull; ++i)
// std::cout << psb->m_modes[0][i] << '\n';