Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-09-18 00:04:29 +00:00
Code Issues Packages Projects Releases Wiki Activity

add support for initial rotation

Browse Source
This commit is contained in:
jingyuc
2021-09-02 21:32:16 -04:00
parent 93e00054e3
commit e70fc6453b
4 changed files with 51 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
examples/ReducedDeformableDemo/BasicTest.cpp
View File

@@ -198,7 +198,7 @@ void BasicTest::initPhysics()
m_broadphase = new btDbvtBroadphase();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
btVector3 gravity = btVector3(0, -10, 0);
btVector3 gravity = btVector3(0, 0, 0);
reducedSoftBodySolver->setGravity(gravity);
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
@@ -220,17 +220,22 @@ void BasicTest::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);
// rsb->scale(btVector3(1, 1, 1)); //TODO: add back scale
rsb->translate(btVector3(0, 4, 0));
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 4, 0));
init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
// rsb->setTotalMass(0.5);
rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta);
// set fixed nodes
rsb->setFixedNodes(0);
rsb->setFixedNodes(1);
rsb->setFixedNodes(2);
rsb->setFixedNodes(3);
// rsb->setFixedNodes(0);
// rsb->setFixedNodes(1);
// rsb->setFixedNodes(2);
// rsb->setFixedNodes(3);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body