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fixed gravity issue in rigid body and deformable body contact solve

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This commit is contained in:
Xuchen Han
2019-07-07 14:31:19 -07:00
parent b8997c36b2
commit 786b0436ec
7 changed files with 72 additions and 121 deletions
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125
examples/DeformableDemo/DeformableDemo.cpp
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@@ -59,16 +59,45 @@ public:
void resetCamera()
{
// float dist = 30;
// float pitch = -14;
// float yaw = 0;
// float targetPos[3] = {0, 0, 0};
float dist = 45;
float dist = 15;
float pitch = -45;
float yaw = 100;
float targetPos[3] = {0,0, 0};
float targetPos[3] = {0, -5, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
void Ctor_RbUpStack(int count)
{
float mass = 1;
btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(2, .5, .5));
btCollisionShape* boxShape = new btBoxShape(btVector3(2, .5, .5));
btTransform localTransform;
localTransform.setIdentity();
cylinderCompound->addChildShape(localTransform, boxShape);
btQuaternion orn(SIMD_HALF_PI, 0, 0);
localTransform.setRotation(orn);
// localTransform.setOrigin(btVector3(1,1,1));
cylinderCompound->addChildShape(localTransform, cylinderShape);
btCollisionShape* shape[] = {
new btBoxShape(btVector3(1, 1, 1)),
cylinderCompound,
new btSphereShape(0.75)
};
static const int nshapes = sizeof(shape) / sizeof(shape[0]);
for (int i = 0; i < count; ++i)
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0, 3 + 3 * i, 0));
createRigidBody(mass, startTransform, shape[i % nshapes]);
}
}
virtual const btDeformableRigidDynamicsWorld* getDeformableDynamicsWorld() const
{
///just make it a btSoftRigidDynamicsWorld please
@@ -105,7 +134,6 @@ void DeformableDemo::initPhysics()
m_guiHelper->setUpAxis(1);
///collision configuration contains default setup for memory, collision setup
// m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
@@ -119,22 +147,22 @@ void DeformableDemo::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
getDeformableDynamicsWorld()->getSoftDynamicsWorld()->getWorldInfo().m_gravity.setValue(0, -10, 0);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
{
///create a few basic rigid bodies
// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(25.)));
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.), btScalar(25.), btScalar(50.)));
///create a ground
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -30, 0));
// groundTransform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI * 0.03));
groundTransform.setOrigin(btVector3(0, -50, 0));
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
btScalar mass(0.);
@@ -151,76 +179,30 @@ void DeformableDemo::initPhysics()
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(.5);
//add the body to the dynamics world
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
//
// {
// ///create a few basic rigid bodies
// btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(100.), btScalar(100.), btScalar(50.)));
//
// m_collisionShapes.push_back(groundShape);
//
// btTransform groundTransform;
// groundTransform.setIdentity();
// groundTransform.setOrigin(btVector3(0, 0, -54));
// //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
// btScalar mass(0.);
//
// //rigidbody is dynamic if and only if mass is non zero, otherwise static
// bool isDynamic = (mass != 0.f);
//
// btVector3 localInertia(0, 0, 0);
// if (isDynamic)
// groundShape->calculateLocalInertia(mass, localInertia);
//
// //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
// btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
// btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
// btRigidBody* body = new btRigidBody(rbInfo);
// body->setFriction(.1);
// //add the body to the dynamics world
// m_dynamicsWorld->addRigidBody(body);
// }
//
// {
// // add a simple deformable body
// const btVector3 s(3,2,1); // side length
// const btVector3 p(0,30,0); // origin;
// const btVector3 h = s * 0.5;
// const btVector3 c[] = {p + h * btVector3(-1, -1, -1),
// p + h * btVector3(+1, -1, -1),
// p + h * btVector3(-1, +1, -1),
// p + h * btVector3(+1, +1, -1),
// p + h * btVector3(-1, -1, +1),
// p + h * btVector3(+1, -1, +1),
// p + h * btVector3(-1, +1, +1),
// p + h * btVector3(+1, +1, +1)};
// btSoftBody* psb = btSoftBodyHelpers::CreateFromConvexHull(getDeformableDynamicsWorld()->getSoftDynamicsWorld()->getWorldInfo(), c, 8);
// psb->generateBendingConstraints(2);
// psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
// psb->setTotalMass(150);
// getDeformableDynamicsWorld()->addSoftBody(psb);
// }
// create a piece of cloth
{
const btScalar s = 8;
const btScalar s = 4;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getSoftDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
btVector3(+s, 0, -s),
btVector3(-s, 0, +s),
btVector3(+s, 0, +s),
10, 10,
// 31,31,
// 3, 3,
20,20,
1 + 2 + 4 + 8, true);
// 0, true);
psb->getCollisionShape()->setMargin(0.5);
// btSoftBody::Material* pm = psb->appendMaterial();
// pm->m_kLST = 0.4 * 1000;
// pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
psb->getCollisionShape()->setMargin(0.25);
psb->generateBendingConstraints(2);
psb->setTotalMass(1);
psb->setDampingCoefficient(0.01);
psb->setTotalMass(2);
psb->setDampingCoefficient(0.02);
getDeformableDynamicsWorld()->addSoftBody(psb);
// add a few rigid bodies
Ctor_RbUpStack(10);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
@@ -263,7 +245,10 @@ void DeformableDemo::exitPhysics()
}
class CommonExampleInterface* DeformableCreateFunc(struct CommonExampleOptions& options)
{
return new DeformableDemo(options.m_guiHelper);
}