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allow set gravity in deformable world. add transformTo for the reduced deformable object

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jingyuc
2021-11-01 15:49:00 -04:00
parent 2255e26e14
commit df661fde15
10 changed files with 32 additions and 11 deletions
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6
examples/ReducedDeformableDemo/FreeFall.cpp
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@@ -134,14 +134,14 @@ void FreeFall::initPhysics()
m_broadphase = new btDbvtBroadphase();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
btVector3 gravity = btVector3(0, -10, 0);
reducedSoftBodySolver->setGravity(gravity);
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(reducedSoftBodySolver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
// m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
@@ -157,7 +157,7 @@ void FreeFall::initPhysics()
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 10, 0));
// init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
rsb->transform(init_transform);
rsb->transformTo(init_transform);
rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta);