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add normal cone optimization for self-collision

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This commit is contained in:
Xuchen Han
2019-09-25 14:48:52 -07:00
parent 657a7468b3
commit cb46440e17
7 changed files with 303 additions and 16 deletions
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12
examples/DeformableDemo/PinchFriction.cpp
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@@ -274,8 +274,8 @@ void PinchFriction::initPhysics()
psb->scale(btVector3(2, 2, 1));
psb->translate(btVector3(0, 2.1, 2.2));
psb->getCollisionShape()->setMargin(0.03);
psb->setTotalMass(1);
psb->getCollisionShape()->setMargin(0.1);
psb->setTotalMass(.6);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 20;
@@ -303,8 +303,8 @@ void PinchFriction::initPhysics()
psb2->scale(btVector3(2, 2, 1));
psb2->translate(btVector3(0, 2.1, -2.2));
psb2->getCollisionShape()->setMargin(0.03);
psb2->setTotalMass(1);
psb2->getCollisionShape()->setMargin(0.1);
psb2->setTotalMass(.6);
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
psb2->m_cfg.kDF = 20;
@@ -332,8 +332,8 @@ void PinchFriction::initPhysics()
psb3->scale(btVector3(2, 2, 1));
psb3->translate(btVector3(0, 2.1, 0));
psb3->getCollisionShape()->setMargin(0.03);
psb3->setTotalMass(1);
psb3->getCollisionShape()->setMargin(0.1);
psb3->setTotalMass(.6);
psb3->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb3->m_cfg.kCHR = 1; // collision hardness with rigid body
psb3->m_cfg.kDF = 20;