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Add btSoftMultiBodyDynamicsWorld.

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This commit is contained in:
yunfeibai
2016-10-11 16:15:44 -07:00
parent 7cb8756c28
commit 4fe86d2a1d
6 changed files with 487 additions and 5 deletions
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2
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -961,10 +961,12 @@ void b3RobotSimAPI::renderScene()
}
}
if (m_data->m_clientServerDirect)
{
m_data->m_clientServerDirect->renderScene();
}
m_data->m_physicsServer.renderScene();
}

10
examples/SoftDemo/SoftDemo.cpp
View File

@@ -1017,7 +1017,7 @@ static void Init_Bunny(SoftDemo* pdemo)
psb->m_cfg.kDF = 0.5;
psb->randomizeConstraints();
psb->scale(btVector3(6,6,6));
psb->setTotalMass(100,true);
psb->setTotalMass(1,true);
pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
pdemo->m_cutting=true;
@@ -2097,6 +2097,7 @@ void SoftDemo::initPhysics()
motorcontrol.maxtorque = 0;
btCollisionShape* groundShape = 0;
if (0)
{
int i;
int j;
@@ -2151,11 +2152,12 @@ void SoftDemo::initPhysics()
groundShape->setMargin(0.5);
}
m_collisionShapes.push_back(groundShape);
//m_collisionShapes.push_back(groundShape);
btCollisionShape* groundBox = new btBoxShape (btVector3(100,CUBE_HALF_EXTENTS,100));
m_collisionShapes.push_back(groundBox);
/*
btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
btTransform localTransform;
@@ -2166,7 +2168,7 @@ void SoftDemo::initPhysics()
cylinderCompound->addChildShape(localTransform,cylinderShape);
m_collisionShapes.push_back(cylinderCompound);
*/
m_dispatcher=0;
@@ -2260,7 +2262,7 @@ void SoftDemo::initPhysics()
newOb->setCollisionShape(m_collisionShapes[0]);
} else
{
newOb->setCollisionShape(m_collisionShapes[1]);
newOb->setCollisionShape(m_collisionShapes[0]);
}
m_dynamicsWorld->addCollisionObject(newOb);