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fixed a sign issue in the friction of the reduced deformable vs moving rigid body contact

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This commit is contained in:
jingyuc
2021-09-07 18:38:13 -04:00
parent 3a70641c65
commit eef3b73cd2
3 changed files with 161 additions and 68 deletions
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89
examples/ReducedDeformableDemo/FreeFall.cpp
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@@ -56,21 +56,20 @@ public:
void resetCamera()
{
// float dist = 10;
// float pitch = -20;
// float yaw = 90;
// float targetPos[3] = {0, 0, 0.5};
float dist = 20;
float pitch = -30;
float yaw = 125;
float targetPos[3] = {-2, 0, 2};
float dist = 10;
float pitch = -20;
float yaw = 90;
float targetPos[3] = {0, 0, 0.5};
// float dist = 20;
// float pitch = -30;
// float yaw = 125;
// float targetPos[3] = {-2, 0, 2};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
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));
btTransform startTransform;
startTransform.setIdentity();
@@ -78,7 +77,8 @@ public:
// btRigidBody* rb0 = createRigidBody(mass, startTransform, shape);
// rb0->setLinearVelocity(btVector3(0, 0, 0));
startTransform.setOrigin(btVector3(0,10,0));
startTransform.setOrigin(btVector3(0,4,0));
// startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0));
btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
rb1->setLinearVelocity(btVector3(0, 0, 0));
}
@@ -157,7 +157,7 @@ void FreeFall::initPhysics()
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 4, 0));
init_transform.setOrigin(btVector3(0, 2.5, 0));
// init_transform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 4.0));
// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
@@ -194,7 +194,7 @@ void FreeFall::initPhysics()
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_PI / 6.0));
groundTransform.setOrigin(btVector3(0, 0, 0));
// groundTransform.setOrigin(btVector3(0, 0, 6));
@@ -204,11 +204,76 @@ void FreeFall::initPhysics()
createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
}
}
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(2), btScalar(0.5), btScalar(1)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(0, 2, 3.1));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(2), btScalar(0.5), btScalar(1)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(0, 2, -3.1));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(1), btScalar(0.5), btScalar(2)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(2, 2, 0));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(1), btScalar(0.5), btScalar(2)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(-2, 2, 0));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
getDeformableDynamicsWorld()->setUseProjection(true);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.0;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;