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factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody

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This commit is contained in:
Xuchen Han
2019-07-25 13:51:44 -07:00
parent 233a381e7c
commit ec403f790d
18 changed files with 150 additions and 204 deletions
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7
examples/DeformableDemo/DeformableDemo.cpp
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@@ -168,8 +168,9 @@ void DeformableDemo::initPhysics()
m_dynamicsWorld = new btDeformableRigidDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld());
// m_dynamicsWorld->getSolverInfo().m_singleAxisDeformableThreshold = 0.f;//faster but lower quality
m_dynamicsWorld->setGravity(btVector3(0, -10, 0));
getDeformableDynamicsWorld()->getWorldInfo().m_gravity.setValue(0, -10, 0);
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
// getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
@@ -235,6 +236,8 @@ void DeformableDemo::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 1;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// add a few rigid bodies
Ctor_RbUpStack(1);