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fixed constraints wip

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This commit is contained in:
jingyuc
2021-07-28 16:36:15 -04:00
parent 549b57df77
commit c6c7533167
4 changed files with 60 additions and 24 deletions
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3
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -133,7 +133,7 @@ void BasicTest::initPhysics()
m_broadphase = new btDbvtBroadphase();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
reducedSoftBodySolver->setDamping(damping_alpha, damping_beta);
btVector3 gravity = btVector3(0, 0, 0);
btVector3 gravity = btVector3(0, -9.8, 0);
reducedSoftBodySolver->setGravity(gravity);
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
@@ -159,6 +159,7 @@ void BasicTest::initPhysics()
// rsb->translate(btVector3(0, 2, 0)); //TODO: add back translate and scale
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(1);
rsb->setFixedNodes();
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
rsb->m_cfg.kDF = 0;