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add correct impulse matrix to multibody-deformable contact

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This commit is contained in:
Xuchen Han
2019-07-24 16:01:47 -07:00
parent 243b9fc8c7
commit 233a381e7c
14 changed files with 618 additions and 594 deletions
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46
examples/DeformableContact/DeformableContact.cpp
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@@ -69,10 +69,10 @@ public:
void resetCamera()
{
float dist = 15;
float dist = 30;
float pitch = -30;
float yaw = 100;
float targetPos[3] = {0, -3, 0};
float targetPos[3] = {0, -10, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
@@ -140,7 +140,7 @@ void DeformableContact::initPhysics()
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -40, 0));
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.1));
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
btScalar mass(0.);
@@ -163,16 +163,16 @@ void DeformableContact::initPhysics()
{
bool damping = false;
bool damping = true;
bool gyro = false;
int numLinks = 0;
bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
int numLinks = 4;
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool canSleep = false;
bool selfCollide = true;
btVector3 linkHalfExtents(1, 1, 1);
btVector3 baseHalfExtents(1, 1, 1);
btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 2.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 10.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
mbC->setCanSleep(canSleep);
mbC->setHasSelfCollision(selfCollide);
@@ -180,13 +180,13 @@ void DeformableContact::initPhysics()
//
if (!damping)
{
mbC->setLinearDamping(0.f);
mbC->setAngularDamping(0.f);
mbC->setLinearDamping(0.0f);
mbC->setAngularDamping(0.0f);
}
else
{
mbC->setLinearDamping(0.1f);
mbC->setAngularDamping(0.9f);
mbC->setLinearDamping(0.04f);
mbC->setAngularDamping(0.04f);
}
if (numLinks > 0)
@@ -209,22 +209,24 @@ void DeformableContact::initPhysics()
// create a patch of cloth
{
btScalar h = 0;
const btScalar s = 4;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
btVector3(+s, 0, -s),
btVector3(-s, 0, +s),
btVector3(+s, 0, +s),
// 20,20,
3,3,
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
btVector3(+s, h, -s),
btVector3(-s, h, +s),
btVector3(+s, h, +s),
20,20,
// 3,3,
1 + 2 + 4 + 8, true);
psb->getCollisionShape()->setMargin(0.25);
psb->generateBendingConstraints(2);
psb->setTotalMass(.5);
psb->setTotalMass(5);
psb->setSpringStiffness(2);
psb->setDampingCoefficient(0.01);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 0;
psb->m_cfg.kDF = .1;
getDeformableDynamicsWorld()->addSoftBody(psb);
}
@@ -271,7 +273,7 @@ void DeformableContact::exitPhysics()
void DeformableContact::stepSimulation(float deltaTime)
{
// getDeformableDynamicsWorld()->getMultiBodyDynamicsWorld()->stepSimulation(deltaTime);
m_dynamicsWorld->stepSimulation(deltaTime, 4, 1./240.);
m_dynamicsWorld->stepSimulation(deltaTime, 5, 1./250.);
}
@@ -279,7 +281,7 @@ btMultiBody* DeformableContact::createFeatherstoneMultiBody_testMultiDof(btMulti
{
//init the base
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
float baseMass = .05f;
float baseMass = .1f;
if (baseMass)
{
@@ -300,7 +302,7 @@ btMultiBody* DeformableContact::createFeatherstoneMultiBody_testMultiDof(btMulti
//init the links
btVector3 hingeJointAxis(1, 0, 0);
float linkMass = .05f;
float linkMass = .1f;
btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
btCollisionShape* pTempBox = new btBoxShape(btVector3(linkHalfExtents[0], linkHalfExtents[1], linkHalfExtents[2]));