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documentation and optimization

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This commit is contained in:
Xuchen Han
2019-09-20 13:54:17 -07:00
parent 20abbc9ee7
commit 657a7468b3
11 changed files with 162 additions and 110 deletions
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4
examples/DeformableDemo/DeformableSelfCollision.cpp
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@@ -153,7 +153,7 @@ void DeformableSelfCollision::initPhysics()
btVector3(-s, h, +4*s),
btVector3(+s, h, +4*s),
10,40,
0, true, 0.1);
0, true, 0.01);
psb->getCollisionShape()->setMargin(0.2);
@@ -161,7 +161,7 @@ void DeformableSelfCollision::initPhysics()
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 = 0.02;
psb->m_cfg.kDF = 0.2;
psb->rotate(btQuaternion(0,SIMD_PI / 2, 0));
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;

13
examples/DeformableDemo/VolumetricDeformable.cpp
View File

@@ -91,7 +91,7 @@ public:
void Ctor_RbUpStack(int count)
{
float mass = 0.02;
float mass = 1;
btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(2, .5, .5));
@@ -166,7 +166,7 @@ void VolumetricDeformable::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
btVector3 gravity = btVector3(0, -10, 0);
btVector3 gravity = btVector3(0, -100, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
@@ -196,7 +196,6 @@ void VolumetricDeformable::initPhysics()
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
getDeformableDynamicsWorld()->setLineSearch(false);
createStaticBox(btVector3(1, 5, 5), btVector3(-5,0,0));
createStaticBox(btVector3(1, 5, 5), btVector3(5,0,0));
@@ -220,19 +219,17 @@ void VolumetricDeformable::initPhysics()
psb->m_cfg.kDF = 0.5;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(0,0.03);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
m_forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.5,2.5);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(30,100,0.02);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
}
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setLineSearch(false);
// add a few rigid bodies
Ctor_RbUpStack(4);