球与3块布碰撞模拟
1、案例介绍
案例位置：examples/Cuda/CodimensionalPD/CPD_ClothOverBall_3
功能介绍：案例中展示了 CodimensionalPD 类的的基本使用。
案例说明：该案例主要用于模拟布料。3块布料在重力作用下，从空中掉落到静态球体，并形成褶皱的过程。测试布料算法稳定性。
2、程序实现
- 创建场景图、边界以及静态球杆模型：
std::shared_ptr<SceneGraph> scn = std::make_shared<SceneGraph>();
scn->setLowerBound(Vec3f(-1.5, 0, -1.5));
scn->setUpperBound(Vec3f(1.5, 3, 1.5));
auto object = scn->addNode(std::make_shared<StaticTriangularMesh<DataType3f>>());
object->varFileName()->setValue(getAssetPath() + "cloth_shell/ball/ball_model.obj");
auto boundary = scn->addNode(std::make_shared<VolumeBoundary<DataType3f>>());
boundary->loadCube(Vec3f(-1.5, 0, -1.5), Vec3f(1.5, 3, 1.5), 0.005f, true);
boundary->loadSDF(getAssetPath() + "cloth_shell/ball/ball_small_size_15.sdf", false);
- 创建CodimensionalPD节点，用于模拟布料：
auto cloth = scn->addNode(std::make_shared<CodimensionalPD<DataType3f>>(0.15,500,0.0005,1e-3));
cloth->loadSurface(getAssetPath() + "cloth_shell/cloth_size_17_alt/cloth_40k_3.obj");
cloth->connect(boundary->importTriangularSystems());
cloth->setGrad_ite_eps(0);
cloth->setMaxIteNumber(10);
- 创建渲染节点：
auto surfaceRendererCloth = std::make_shared<GLSurfaceVisualModule>();
surfaceRendererCloth->setColor(Color(0.4, 0.4, 1.0));
auto surfaceRenderer = std::make_shared<GLSurfaceVisualModule>();
surfaceRenderer->setColor(Color(0.4, 0.4, 0.4));
surfaceRenderer->varUseVertexNormal()->setValue(true);
cloth->stateTriangleSet()->connect(surfaceRendererCloth->inTriangleSet());
object->stateTriangleSet()->connect(surfaceRenderer->inTriangleSet());
cloth->graphicsPipeline()->pushModule(surfaceRendererCloth);
object->graphicsPipeline()->pushModule(surfaceRenderer);
cloth->setVisible(true);