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allow multiple reduced deformable object in one sim

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This commit is contained in:
Jingyu Chen
2021-12-09 16:55:10 -05:00
parent 1feb81463a
commit f19133e410
6 changed files with 68 additions and 12 deletions
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examples/ReducedDeformableDemo/FreeFall.cpp
+32
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@@ -152,6 +152,8 @@ void FreeFall::initPhysics()
rsb->getCollisionShape()->setMargin(0.01);
// rsb->scale(btVector3(1, 1, 0.5));
rsb->setTotalMass(10);
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 4, 0));
@@ -160,8 +162,38 @@ void FreeFall::initPhysics()
rsb->setStiffnessScale(5);
rsb->setDamping(damping_alpha, damping_beta);
// rsb->scale(btVector3(0.5, 0.5, 0.5));
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
rsb->m_cfg.kDF = 0;
rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
rsb->m_sleepingThreshold = 0;
btSoftBodyHelpers::generateBoundaryFaces(rsb);
// rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
// rsb->setRigidVelocity(btVector3(0, 0, 1));
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
}
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedTorus(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);
// rsb->scale(btVector3(1, 1, 0.5));
rsb->setTotalMass(10);
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(4, 4, 0));
init_transform.setRotation(btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
rsb->transformTo(init_transform);
rsb->setStiffnessScale(5);
rsb->setDamping(damping_alpha, damping_beta);
// rsb->scale(btVector3(0.5, 0.5, 0.5));
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects