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switch to Baraff style constraint

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This commit is contained in:
Xuchen Han committed 2019-08-16 13:45:08 -07:00
1 parent 27492887bf
commit 5b8df6a708
5 files changed
+98 -47
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examples/DeformableDemo/DeformableRigid.cpp
+3 -3
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@@ -228,11 +228,11 @@ void DeformableRigid::initPhysics()
psb->getCollisionShape()->setMargin(0.1);
psb->generateBendingConstraints(2);
psb->setTotalMass(1);
psb->setSpringStiffness(1);
psb->setDampingCoefficient(0.01);
psb->setSpringStiffness(2);
psb->setDampingCoefficient(0.05);
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 = 0;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
examples/DeformableDemo/GraspDeformable.cpp
+4 -3
View File
@@ -331,14 +331,15 @@ void GraspDeformable::initPhysics()
psb->getCollisionShape()->setMargin(0.1);
psb->setTotalMass(1);
psb->setSpringStiffness(0);
psb->setDampingCoefficient(0.04);
psb->setDampingCoefficient(0.02);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
psb->m_cfg.kDF = 0;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(2,2));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(1,1));
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);