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WIP warm starting

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This commit is contained in:
jingyuc
2021-08-23 01:17:58 -04:00
parent 368385d5ad
commit d9152b9cf5
9 changed files with 117 additions and 54 deletions
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examples/ReducedDeformableDemo/FreeFall.cpp
+9 -7
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@@ -30,7 +30,7 @@
// static btScalar E = 50;
// static btScalar nu = 0.3;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.01;
static btScalar damping_beta = 0.0;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 1;
@@ -161,9 +161,9 @@ void FreeFall::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);
// rsb->scale(btVector3(1, 1, 1));
rsb->translate(btVector3(0, 10, 0)); //TODO: add back translate and scale
rsb->translate(btVector3(0, 5, 0)); //TODO: add back translate and scale
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(0.5);
rsb->setStiffnessScale(1);
rsb->setDamping(damping_alpha, damping_beta);
// rsb->setFriction(200);
@@ -179,7 +179,7 @@ void FreeFall::initPhysics()
btSoftBodyHelpers::generateBoundaryFaces(rsb);
// rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
// rsb->setRigidVelocity(btVector3(0, 0, 0));
// rsb->setRigidVelocity(btVector3(0, 0, 1));
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
// btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
@@ -188,14 +188,16 @@ void FreeFall::initPhysics()
}
// create a static rigid box as the ground
{
btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(3), btScalar(3), btScalar(3)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
btBoxShape* groundShape = createBoxShape(btVector3(btScalar(5), btScalar(5), btScalar(5)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -50, 0));
// groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
groundTransform.setOrigin(btVector3(0, -2, -2));
// groundTransform.setOrigin(btVector3(0, 0, 6));
// groundTransform.setOrigin(btVector3(0, -50, 0));
{
btScalar mass(0.);
createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));