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more bug fixes

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This commit is contained in:
Xuchen Han
2019-12-27 13:16:31 -08:00
parent 65b75e5937
commit 442047a862
4 changed files with 8 additions and 8 deletions
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6
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -206,15 +206,15 @@ void DeformableMultibody::initPhysics()
psb->getCollisionShape()->setMargin(0.25);
psb->generateBendingConstraints(2);
psb->setTotalMass(5);
psb->setTotalMass(1);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = .1;
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->setCollisionFlags(0);
getDeformableDynamicsWorld()->addSoftBody(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30, 1, true);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
m_forces.push_back(mass_spring);

2
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -82,7 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_numIterations = 10;
m_erp = btScalar(0.2);
m_erp2 = btScalar(0.2);
m_deformable_erp = btScalar(1.0);
m_deformable_erp = btScalar(0.0);
m_globalCfm = btScalar(0.);
m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
m_frictionCFM = btScalar(0.);

4
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@@ -127,8 +127,8 @@ void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseI
leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
}
// solve the position correction between deformable and rigid/multibody
btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal);
leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
// btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal);
// leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
}
if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
{

4
src/BulletSoftBody/btSoftBody.cpp
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@@ -3700,8 +3700,8 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
docollideFace.psb = this;
docollideFace.m_colObj1Wrap = pcoWrap;
docollideFace.m_rigidBody = prb1;
docollideFace.dynmargin = basemargin + timemargin;
docollideFace.stamargin = basemargin;
docollideFace.dynmargin = 0.9*(basemargin + timemargin);
docollideFace.stamargin = 0.9*basemargin;
m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
}
}