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clean up the damping codes

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This commit is contained in:
jingyuc
2021-10-13 23:39:36 -04:00
parent bd6e49bcc1
commit d945e48af2
9 changed files with 45 additions and 41 deletions
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26
examples/ReducedDeformableDemo/FreeFall.cpp
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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 = 0.0;
static btScalar damping_beta = 0.00001;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 20;
@@ -70,8 +70,8 @@ public:
void Ctor_RbUpStack()
{
float mass = 10;
// btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
btCollisionShape* shape = new btBoxShape(btVector3(0.5, 0.5, 0.5));
// btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 1));
btTransform startTransform;
startTransform.setIdentity();
// startTransform.setOrigin(btVector3(0, 12, 0));
@@ -109,10 +109,10 @@ public:
// {
// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0));
// }
// for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
// {
// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
// }
for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
{
deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
}
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 5, 0), 0.1, btVector3(1, 1, 1));
@@ -147,7 +147,7 @@ void FreeFall::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(0.01);
@@ -156,7 +156,7 @@ void FreeFall::initPhysics()
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 10, 0));
// init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 4.0));
// init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
rsb->transform(init_transform);
rsb->setStiffnessScale(100);
@@ -263,12 +263,12 @@ void FreeFall::initPhysics()
getDeformableDynamicsWorld()->setLineSearch(false);
getDeformableDynamicsWorld()->setUseProjection(false);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-6;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 200;
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
m_dynamicsWorld->setGravity(gravity);