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check in a good set of parameters for grasping deformable ball with nonlinear damping force (not as stable as linear damping)

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Xuchen Han
2019-08-15 17:48:36 -07:00
parent aa4d5bda3e
commit c9ab033a8b
5 changed files with 14 additions and 24 deletions
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4
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -219,14 +219,12 @@ void DeformableMultibody::initPhysics()
psb->getCollisionShape()->setMargin(0.25);
psb->generateBendingConstraints(2);
psb->setTotalMass(5);
psb->setSpringStiffness(2);
psb->setDampingCoefficient(0.01);
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.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
}