Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

combat friction drift in positionCorrect by changing velocity and change it back (effectively only changing position)

Browse Source
This commit is contained in:
Xuchen Han
2019-07-23 12:15:23 -07:00
parent a90cad2a96
commit 243b9fc8c7
15 changed files with 291 additions and 152 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
examples/DeformableContact/DeformableContact.cpp
View File

@@ -54,13 +54,6 @@ class DeformableContact : public CommonMultiBodyBase
btMultiBody* m_multiBody;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
public:
struct TetraBunny
{
#include "../SoftDemo/bunny.inl"
};
DeformableContact(struct GUIHelperInterface* helper)
: CommonMultiBodyBase(helper)
{
@@ -147,7 +140,7 @@ void DeformableContact::initPhysics()
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -40, 0));
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.0));
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.1));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
btScalar mass(0.);
@@ -170,16 +163,16 @@ void DeformableContact::initPhysics()
{
bool damping = true;
bool gyro = true;
int numLinks = 3;
bool damping = false;
bool gyro = false;
int numLinks = 0;
bool spherical = true; //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, 10.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(m_dynamicsWorld, numLinks, btVector3(0.f, 2.f,0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);
mbC->setCanSleep(canSleep);
mbC->setHasSelfCollision(selfCollide);
@@ -216,12 +209,13 @@ void DeformableContact::initPhysics()
// create a patch of cloth
{
const btScalar s = 6;
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,
// 20,20,
3,3,
1 + 2 + 4 + 8, true);
psb->getCollisionShape()->setMargin(0.25);
@@ -232,7 +226,6 @@ void DeformableContact::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 0;
getDeformableDynamicsWorld()->addSoftBody(psb);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);