Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

update examples to test different time stepping schemes (namely explicit, implicit and implicit with line search)/

Browse Source
This commit is contained in:
Xuchen Han
2019-09-19 17:09:52 -07:00
parent 2f9184acc9
commit be7383cc03
6 changed files with 29 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
examples/DeformableDemo/DeformableContact.cpp
View File

@@ -26,6 +26,7 @@
#include "../Utils/b3ResourcePath.h"
///The DeformableContact shows the contact between deformable objects
class DeformableContact : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
@@ -149,12 +150,12 @@ void DeformableContact::initPhysics()
20,20,
1 + 2 + 4 + 8, true);
psb->getCollisionShape()->setMargin(0.05);
psb->getCollisionShape()->setMargin(0.1);
psb->generateBendingConstraints(2);
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 = 1;
psb->m_cfg.kDF = 0;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb);
@@ -176,15 +177,15 @@ void DeformableContact::initPhysics()
btVector3(+s, h, +s),
10,10,
0, true);
psb2->getCollisionShape()->setMargin(0.05);
psb2->getCollisionShape()->setMargin(0.1);
psb2->generateBendingConstraints(2);
psb2->setTotalMass(1);
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
psb2->m_cfg.kDF = 1;
psb2->m_cfg.kDF = .1;
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
psb->translate(btVector3(3,0,0));
psb->translate(btVector3(3.5,0,0));
getDeformableDynamicsWorld()->addSoftBody(psb2);
btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,1, true);
@@ -195,6 +196,8 @@ void DeformableContact::initPhysics()
getDeformableDynamicsWorld()->addForce(psb2, gravity_force2);
m_forces.push_back(gravity_force2);
}
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}