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add corotated model to lagrangian forces

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This commit is contained in:
Xuchen Han
2019-08-08 10:14:18 -07:00
parent 94aeb4657b
commit deb7c152c4
8 changed files with 174 additions and 4 deletions
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5
examples/GraspDeformable/GraspDeformable.cpp
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@@ -332,14 +332,15 @@ void GraspDeformable::initPhysics()
psb->translate(btVector3(0, 0, 0));
psb->getCollisionShape()->setMargin(0.1);
psb->setTotalMass(1);
psb->setSpringStiffness(2);
psb->setDampingCoefficient(0.02);
psb->setSpringStiffness(0);
psb->setDampingCoefficient(0.04);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(2,2));
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);