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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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6
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -230,17 +230,13 @@ void VolumetricDeformable::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(psb);
psb->scale(btVector3(2, 2, 2));
psb->translate(btVector3(0, 5, 0));
// psb->setVolumeMass(10);
psb->getCollisionShape()->setMargin(0.25);
// psb->generateBendingConstraints(2);
psb->setTotalMass(1);
psb->setSpringStiffness(0);
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 = 0.5;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.01));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(.5,.5));
}