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now support scaling of reduced deformable object. the order of applying impulse is changeable now

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This commit is contained in:
jingyuc
2021-10-04 11:56:29 -04:00
parent 1bee1ba4c4
commit c4da596778
6 changed files with 102 additions and 49 deletions
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examples/ReducedDeformableDemo/FreeFall.cpp
+13 -11
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@@ -33,7 +33,7 @@ static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 40;
static int num_modes = 20;
class FreeFall : public CommonDeformableBodyBase
{
@@ -56,14 +56,14 @@ public:
void resetCamera()
{
// float dist = 6;
// float pitch = -20;
// float yaw = 90;
// float targetPos[3] = {0, 2, 0};
float dist = 20;
float pitch = -30;
float yaw = 125;
float targetPos[3] = {-2, 0, 2};
float dist = 10;
float pitch = -20;
float yaw = 90;
float targetPos[3] = {0, 2, 0};
// float dist = 20;
// float pitch = -30;
// float yaw = 125;
// float targetPos[3] = {-2, 0, 2};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
@@ -143,6 +143,7 @@ void FreeFall::initPhysics()
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
// m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
// create volumetric reduced deformable body
{
@@ -150,11 +151,12 @@ void FreeFall::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);
rsb->scale(btVector3(1, 1, 0.5));
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 10, 0));
// init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 2.0));
init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 4.0));
rsb->transform(init_transform);
rsb->setStiffnessScale(20);
@@ -173,7 +175,7 @@ void FreeFall::initPhysics()
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
}
// add a few rigid bodies
Ctor_RbUpStack();
// Ctor_RbUpStack();
// create a static rigid box as the ground
{
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));