Method initPhysics

examples/DeformableDemo/PinchFriction.cpp:204–354

}

void PinchFriction::initPhysics()
{
    m_guiHelper->setUpAxis(1);
    
    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
    
    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
    
    m_broadphase = new btDbvtBroadphase();
    btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
    
    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
    sol->setDeformableSolver(deformableBodySolver);
    m_solver = sol;
    
    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
    btVector3 gravity = btVector3(0, -10, 0);
    m_dynamicsWorld->setGravity(gravity);
    getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
    getDeformableDynamicsWorld()->setSolverCallback(dynamics2);
    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
    
    //create a ground
    {
        btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
        
        m_collisionShapes.push_back(groundShape);
        
        btTransform groundTransform;
        groundTransform.setIdentity();
        groundTransform.setOrigin(btVector3(0, -25, 0));
        groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
        //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
        btScalar mass(0.);
        
        //rigidbody is dynamic if and only if mass is non zero, otherwise static
        bool isDynamic = (mass != 0.f);
        
        btVector3 localInertia(0, 0, 0);
        if (isDynamic)
            groundShape->calculateLocalInertia(mass, localInertia);
        
        //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
        btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
        btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
        btRigidBody* body = new btRigidBody(rbInfo);
        body->setFriction(0.5);
        
        //add the ground to the dynamics world
        m_dynamicsWorld->addRigidBody(body);
    }
    
    // create a soft block
    {
        btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
                                                                  TetraCube::getElements(),