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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/ReducedCollide.cpp
+10 -9
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@@ -30,10 +30,10 @@
// static btScalar E = 50;
// static btScalar nu = 0.3;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0001;
static btScalar damping_beta = 0.0;
static btScalar COLLIDING_VELOCITY = 4;
static int start_mode = 6;
static int num_modes = 1;
static int num_modes = 20;
class ReducedCollide : public CommonDeformableBodyBase
{
@@ -75,10 +75,10 @@ public:
void Ctor_RbUpStack()
{
// float mass = 55;
float mass = 8;
float mass = 55;
// float mass = 8;
btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
btVector3 localInertia(0, 0, 0);
if (mass != 0.f)
shape->calculateLocalInertia(mass, localInertia);
@@ -205,10 +205,11 @@ void ReducedCollide::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);
rsb->scale(btVector3(1, 1, 1));
btTransform init_transform;
init_transform.setIdentity();
@@ -216,7 +217,7 @@ void ReducedCollide::initPhysics()
// init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
rsb->transform(init_transform);
rsb->setStiffnessScale(100);
rsb->setStiffnessScale(20);
rsb->setDamping(damping_alpha, damping_beta);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
@@ -298,9 +299,9 @@ void ReducedCollide::initPhysics()
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-6;
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 200;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
// {