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refactor contact solve

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This commit is contained in:
Xuchen Han
2019-08-23 13:41:14 -07:00
parent ccd8c3a47c
commit 6beeac7065
18 changed files with 597 additions and 309 deletions
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6
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -118,8 +118,9 @@ void DeformableMultibody::initPhysics()
m_broadphase = new btDbvtBroadphase();
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
btMultiBodyConstraintSolver* sol;
sol = new btMultiBodyConstraintSolver;
btDeformableMultiBodyConstraintSolver* sol;
sol = new btDeformableMultiBodyConstraintSolver;
sol->setDeformableSolver(deformableBodySolver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
@@ -223,6 +224,7 @@ void DeformableMultibody::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = .1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->setCollisionFlags(0);
getDeformableDynamicsWorld()->addSoftBody(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false);

13
examples/DeformableDemo/DeformableRigid.cpp
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@@ -161,7 +161,8 @@ void DeformableRigid::initPhysics()
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(deformableBodySolver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
@@ -208,10 +209,12 @@ void DeformableRigid::initPhysics()
{
bool onGround = false;
const btScalar s = 4;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
btVector3(+s, 0, -s),
btVector3(-s, 0, +s),
btVector3(+s, 0, +s),
const btScalar h = 0;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
btVector3(+s, h, -s),
btVector3(-s, h, +s),
btVector3(+s, h, +s),
// 3,3,
20,20,
1 + 2 + 4 + 8, true);

3
examples/DeformableDemo/GraspDeformable.cpp
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@@ -187,7 +187,8 @@ void GraspDeformable::initPhysics()
m_broadphase = new btDbvtBroadphase();
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(deformableBodySolver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);

3
examples/DeformableDemo/Pinch.cpp
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@@ -245,7 +245,8 @@ void Pinch::initPhysics()
m_broadphase = new btDbvtBroadphase();
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(deformableBodySolver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);

3
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -178,7 +178,8 @@ void VolumetricDeformable::initPhysics()
m_broadphase = new btDbvtBroadphase();
btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver();
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(deformableBodySolver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);