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rotate the modes when the mesh has a initial transformation. new grasping example with motor WIP

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This commit is contained in:
jingyuc
2021-09-09 18:35:07 -04:00
parent ce765a8a88
commit e62c42f54c
24 changed files with 1459 additions and 1218 deletions
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examples/ReducedDeformableDemo/ModeVisualizer.cpp
+7 -1
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@@ -119,7 +119,7 @@ void ModeVisualizer::initPhysics()
// create volumetric soft body
{
std::string filepath("../../../examples/SoftDemo/");
std::string filepath("../../../examples/SoftDemo/beam/");
std::string filename = filepath + "mesh.vtk";
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
@@ -128,6 +128,12 @@ void ModeVisualizer::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 2, 0));
init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
btSoftBodyHelpers::generateBoundaryFaces(rsb);
}
getDeformableDynamicsWorld()->setImplicit(false);