Method initPhysics

examples/ReducedDeformableDemo/ConservationTest.cpp:194–263

};

void ConservationTest::initPhysics()
{
    m_guiHelper->setUpAxis(1);

    ///collision configuration contains default setup for memory, collision setup
    m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();

    ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
    m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);

    m_broadphase = new btDbvtBroadphase();
    btReducedDeformableBodySolver* reducedSoftBodySolver = new btReducedDeformableBodySolver();
    btVector3 gravity = btVector3(0, 0, 0);
    reducedSoftBodySolver->setGravity(gravity);

    btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
    sol->setDeformableSolver(reducedSoftBodySolver);
    m_solver = sol;

    m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
    m_dynamicsWorld->setGravity(gravity);
    m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

    // create volumetric reduced deformable body
    {   
        std::string file_path("../../../data/reduced_beam/");
        std::string vtk_file("beam_mesh_origin.vtk");
        btReducedDeformableBody* rsb = btReducedDeformableBodyHelpers::createReducedDeformableObject(
                                            getDeformableDynamicsWorld()->getWorldInfo(),
                                            file_path,
                                            vtk_file,
                                            num_modes,
                                            false);

        getDeformableDynamicsWorld()->addSoftBody(rsb);
        rsb->getCollisionShape()->setMargin(0.1);
        
        btTransform init_transform;
        init_transform.setIdentity();
        init_transform.setOrigin(btVector3(0, 4, 0));
        // init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
        rsb->transformTo(init_transform);

        rsb->setStiffnessScale(100);
        rsb->setDamping(damping_alpha, damping_beta);
        
        rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
        rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
        rsb->m_cfg.kDF = 0;
        rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
        rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
        rsb->m_sleepingThreshold = 0;
        btSoftBodyHelpers::generateBoundaryFaces(rsb);
        
        // rsb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0));
        // rsb->setRigidVelocity(btVector3(0, 1, 0));
        // rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
    }