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

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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
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21
examples/DeformableDemo/DeformableDemo.cpp
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@@ -105,15 +105,15 @@ public:
// }
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(1, 2, 1));
startTransform.setOrigin(btVector3(1, 1.5, 1));
createRigidBody(mass, startTransform, shape[0]);
startTransform.setOrigin(btVector3(1, 2, -1));
startTransform.setOrigin(btVector3(1, 1.5, -1));
createRigidBody(mass, startTransform, shape[0]);
startTransform.setOrigin(btVector3(-1, 2, 1));
startTransform.setOrigin(btVector3(-1, 1.5, 1));
createRigidBody(mass, startTransform, shape[0]);
startTransform.setOrigin(btVector3(-1, 2, -1));
startTransform.setOrigin(btVector3(-1, 1.5, -1));
createRigidBody(mass, startTransform, shape[0]);
startTransform.setOrigin(btVector3(0, 4, 0));
startTransform.setOrigin(btVector3(0, 3.5, 0));
createRigidBody(mass, startTransform, shape[0]);
}
@@ -182,7 +182,7 @@ void DeformableDemo::initPhysics()
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -30, 0));
groundTransform.setOrigin(btVector3(0, -32, 0));
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.);
@@ -206,7 +206,7 @@ void DeformableDemo::initPhysics()
// create a piece of cloth
{
bool onGround = true;
bool onGround = false;
const btScalar s = 4;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
btVector3(+s, 0, -s),
@@ -222,13 +222,14 @@ void DeformableDemo::initPhysics()
btVector3(+s, 0, -s),
btVector3(-s, 0, +s),
btVector3(+s, 0, +s),
20,20,
// 20,20,
2,2,
0, true);
psb->getCollisionShape()->setMargin(0.1);
psb->generateBendingConstraints(2);
psb->setTotalMass(10);
psb->setSpringStiffness(10);
psb->setTotalMass(1);
psb->setSpringStiffness(1);
psb->setDampingCoefficient(0.01);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body