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Merge pull request #2509 from xhan0619/separate-bending-stiffness

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Separate in-plane and bending stiffness for mass spring model
This commit is contained in:
erwincoumans
2019-12-04 07:34:28 -08:00
committed by GitHub
parent c4300dc299 8fde74ecea
commit 44f21e462a
7 changed files with 52 additions and 37 deletions
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33
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8069,7 +8069,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{
collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin;
}
btScalar spring_bending_stiffness = 0;
{
btSoftBody* psb = NULL;
@@ -8136,7 +8136,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
}
}
#ifndef SKIP_DEFORMABLE_BODY
btScalar spring_elastic_stiffness, spring_damping_stiffness;
btScalar spring_elastic_stiffness, spring_damping_stiffness;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
@@ -8144,7 +8144,11 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false);
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
{
spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness;
}
btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false, spring_bending_stiffness);
deformWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
}
@@ -8177,12 +8181,16 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
deformWorld->addForce(psb, neohookeanForce);
m_data->m_lf.push_back(neohookeanForce);
}
btScalar spring_elastic_stiffness, spring_damping_stiffness;
btScalar spring_elastic_stiffness, spring_damping_stiffness;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
{
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true);
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
{
spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness;
}
btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true, spring_bending_stiffness);
deformWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
}
@@ -8257,19 +8265,18 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
friction_coeff = loadSoftBodyArgs.m_frictionCoeff;
}
psb->m_cfg.kDF = friction_coeff;
bool use_bending_spring = true;
bool use_bending_spring = false;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
{
use_bending_spring = loadSoftBodyArgs.m_useBendingSprings;
use_bending_spring = loadSoftBodyArgs.m_useBendingSprings;
if (use_bending_spring)
{
psb->generateBendingConstraints(2);
}
}
btSoftBody::Material* pm = psb->appendMaterial();
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
if (use_bending_spring)
{
psb->generateBendingConstraints(2,pm);
}
// turn on the collision flag for deformable
// collision between deformable and rigid
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;