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fix gravity set up

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This commit is contained in:
Xuchen Han
2019-10-04 11:21:34 -07:00
committed by Xuchen Han
parent ec91a0ffa4
commit d0e4bbf04d
3 changed files with 6 additions and 9 deletions
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2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -632,7 +632,7 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping = 0);
B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping);
B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);
B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);

3
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8113,10 +8113,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
psb->m_renderNodes.resize(0);
}
btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE)
{
m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity));
}
btScalar collision_hardness = 1;
psb->m_cfg.kKHR = collision_hardness;
psb->m_cfg.kCHR = collision_hardness;

8
src/BulletSoftBody/btSoftBody.cpp
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@@ -2306,10 +2306,10 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr
const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject();
// use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect
// but resolve contact at x_n
btTransform wtr = (predict) ?
(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
: colObjWrap->getWorldTransform();
//const btTransform& wtr = colObjWrap->getWorldTransform();
//btTransform wtr = (predict) ?
//(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
//: colObjWrap->getWorldTransform();
const btTransform& wtr = colObjWrap->getWorldTransform();
btScalar dst =
m_worldInfo->m_sparsesdf.Evaluate(
wtr.invXform(x),