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code clean up

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This commit is contained in:
Xuchen Han
2019-08-10 12:00:48 -07:00
parent fa5741d07e
commit f7cd1edf4a
6 changed files with 9 additions and 50 deletions
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2
examples/DeformableDemo/DeformableRigid.cpp
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@@ -232,7 +232,7 @@ void DeformableRigid::initPhysics()
psb->setDampingCoefficient(0.05);
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;
psb->m_cfg.kDF = 1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());

4
examples/DeformableDemo/GraspDeformable.cpp
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@@ -331,10 +331,10 @@ void GraspDeformable::initPhysics()
psb->getCollisionShape()->setMargin(0.1);
psb->setTotalMass(1);
psb->setSpringStiffness(0);
psb->setDampingCoefficient(0.02);
psb->setDampingCoefficient(0.1);
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;
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());

3
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -234,7 +234,7 @@ void VolumetricDeformable::initPhysics()
psb->getCollisionShape()->setMargin(0.25);
// psb->generateBendingConstraints(2);
psb->setTotalMass(1);
psb->setSpringStiffness(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
@@ -242,6 +242,7 @@ void VolumetricDeformable::initPhysics()
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(.5,.5));
}
// add a few rigid bodies
Ctor_RbUpStack(4);