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single fixed constraint for the rigid frame is working

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This commit is contained in:
jingyuc
2021-08-04 22:44:53 -04:00
parent 35ec8b39a7
commit fdfb08b72f
5 changed files with 152 additions and 80 deletions
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29
examples/ReducedDeformableDemo/BasicTest.cpp
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@@ -35,7 +35,7 @@ static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.01;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 1;
static int num_modes = 2;
class BasicTest : public CommonDeformableBodyBase
{
@@ -50,7 +50,7 @@ class BasicTest : public CommonDeformableBodyBase
// rsb->m_nodes[i].m_x[k] += rsb->m_modes[mode_n][3 * i + k] * scale;
rsb->m_reducedDofs[mode_n] = scale;
rsb->mapToFullDofs();
rsb->mapToFullDofs(rsb->getWorldTransform());
std::cout << "-----------\n";
std::cout << rsb->m_nodes[0].m_x[0] << '\t' << rsb->m_nodes[0].m_x[1] << '\t' << rsb->m_nodes[0].m_x[2] << '\n';
std::cout << "-----------\n";
@@ -118,14 +118,25 @@ public:
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* rsb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
btSoftBody* rsb = static_cast<btReducedSoftBody*>(deformableWorld->getSoftBodyArray()[i]);
{
btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
// btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), flag);
btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.2, btVector3(1, 1, 1));
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 2, 0), 0.2, btVector3(1, 1, 1));
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 4, 0), 0.2, btVector3(1, 1, 1));
btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
btVector3 origin = rsb->getRigidTransform().getOrigin();
btVector3 line_x = rsb->getRigidTransform().getBasis() * 2 * btVector3(1, 0, 0) + origin;
btVector3 line_y = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 1, 0) + origin;
btVector3 line_z = rsb->getRigidTransform().getBasis() * 2 * btVector3(0, 0, 1) + origin;
deformableWorld->getDebugDrawer()->drawLine(origin, line_x, btVector3(1, 0, 0));
deformableWorld->getDebugDrawer()->drawLine(origin, line_y, btVector3(0, 1, 0));
deformableWorld->getDebugDrawer()->drawLine(origin, line_z, btVector3(0, 0, 1));
deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[0].m_x, 0.2, btVector3(1, 0, 0));
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 2, 0), 0.1, btVector3(1, 1, 1));
deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 4, 0), 0.1, btVector3(1, 1, 1));
}
}
}
@@ -144,7 +155,7 @@ void BasicTest::initPhysics()
m_broadphase = new btDbvtBroadphase();
btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
reducedSoftBodySolver->setDamping(damping_alpha, damping_beta);
btVector3 gravity = btVector3(0, 0, 0);
btVector3 gravity = btVector3(0, -10, 0);
reducedSoftBodySolver->setGravity(gravity);
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
@@ -181,7 +192,7 @@ void BasicTest::initPhysics()
// rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
// rsb->setRigidVelocity(btVector3(0, 1, 0));
rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
// btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
// getDeformableDynamicsWorld()->addForce(rsb, gravity_force);