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update examples to include NeoHookean Model and new damping model

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This commit is contained in:
Xuchen Han
2019-08-19 12:04:10 -07:00
parent 44e7c4a96d
commit 9af25430ac
5 changed files with 13 additions and 11 deletions
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13
examples/DeformableDemo/GraspDeformable.cpp
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@@ -191,7 +191,7 @@ void GraspDeformable::initPhysics()
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
btVector3 gravity = btVector3(0, -10, 0);
btVector3 gravity = btVector3(0, -9.81, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
@@ -316,7 +316,7 @@ void GraspDeformable::initPhysics()
body->setFriction(0.1);
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body);
m_dynamicsWorld->addRigidBody(body,1,1+2);
}
// create a soft block
@@ -342,22 +342,23 @@ void GraspDeformable::initPhysics()
// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
// psb->scale(btVector3(1, 1, 1)); // for ditto
// psb->translate(btVector3(0, 0, 2)); for boot
psb->getCollisionShape()->setMargin(0.02);
psb->getCollisionShape()->setMargin(0.01);
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 = 10;
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
psb->getWorldInfo()->m_maxDisplacement = .1f;
// nonlinear damping
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.04, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6));
// linear damping
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.01, false));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.5,0.04, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(6,6));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(2,10));
}
// // create a piece of cloth