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add cloth demo to show deformable friction

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This commit is contained in:
Xuchen Han
2019-09-19 16:38:45 -07:00
parent 55ebafc755
commit 0501fe1bbd
8 changed files with 333 additions and 22 deletions
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67
examples/DeformableDemo/PinchFriction.cpp
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@@ -95,8 +95,8 @@ public:
virtual void renderScene()
{
CommonRigidBodyBase::renderScene();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
// btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
//
// for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
// {
// btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
@@ -115,7 +115,7 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
return;
btRigidBody* rb0 = rbs[0];
btScalar pressTime = 0.9;
btScalar liftTime = 2.5;
btScalar liftTime = 10;
btScalar shiftTime = 3.5;
btScalar holdTime = 4.5*1000;
btScalar dropTime = 5.3*1000;
@@ -126,9 +126,9 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
btVector3 initialTranslationLeft = btVector3(0.5,3,4);
btVector3 initialTranslationRight = btVector3(0.5,3,-4);
btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-.5);
btVector3 PinchFrictionVelocityRight = btVector3(0,0,.5);
btVector3 liftVelocity = btVector3(0,5,0);
btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-1);
btVector3 PinchFrictionVelocityRight = btVector3(0,0,1);
btVector3 liftVelocity = btVector3(0,1,0);
btVector3 shiftVelocity = btVector3(0,0,0);
btVector3 holdVelocity = btVector3(0,0,0);
btVector3 openVelocityLeft = btVector3(0,0,4);
@@ -209,8 +209,8 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
rb1->setAngularVelocity(btVector3(0,0,0));
rb1->setLinearVelocity(velocity);
rb0->setFriction(20);
rb1->setFriction(20);
rb0->setFriction(200);
rb1->setFriction(200);
}
void PinchFriction::initPhysics()
@@ -260,7 +260,7 @@ void PinchFriction::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(0.5);
body->setFriction(0);
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body);
@@ -274,13 +274,13 @@ void PinchFriction::initPhysics()
TetraCube::getNodes(),
false, true, true);
psb->scale(btVector3(1.5, 1.5, 1.5));
psb->translate(btVector3(0, 4, 1.6));
psb->getCollisionShape()->setMargin(0.15);
psb->scale(btVector3(2, 2, 1));
psb->translate(btVector3(0, 2.1, 2.2));
psb->getCollisionShape()->setMargin(0.03);
psb->setTotalMass(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 = 2;
psb->m_cfg.kDF = 20;
btSoftBodyHelpers::generateBoundaryFaces(psb);
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
@@ -290,7 +290,7 @@ void PinchFriction::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(20,40);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
}
@@ -303,13 +303,13 @@ void PinchFriction::initPhysics()
TetraCube::getNodes(),
false, true, true);
psb2->scale(btVector3(1.5, 1.5, 1.5));
psb2->translate(btVector3(0, 4, -1.6));
psb2->getCollisionShape()->setMargin(0.15);
psb2->scale(btVector3(2, 2, 1));
psb2->translate(btVector3(0, 2.1, -2.2));
psb2->getCollisionShape()->setMargin(0.03);
psb2->setTotalMass(1);
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
psb2->m_cfg.kDF = 2;
psb2->m_cfg.kDF = 20;
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
btSoftBodyHelpers::generateBoundaryFaces(psb2);
@@ -319,11 +319,40 @@ void PinchFriction::initPhysics()
getDeformableDynamicsWorld()->addForce(psb2, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(20,40);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1);
getDeformableDynamicsWorld()->addForce(psb2, neohookean);
m_forces.push_back(neohookean);
}
// create a third soft block
{
btSoftBody* psb3 = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
TetraCube::getElements(),
0,
TetraCube::getNodes(),
false, true, true);
psb3->scale(btVector3(2, 2, 1));
psb3->translate(btVector3(0, 2.1, 0));
psb3->getCollisionShape()->setMargin(0.03);
psb3->setTotalMass(1);
psb3->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb3->m_cfg.kCHR = 1; // collision hardness with rigid body
psb3->m_cfg.kDF = 20;
psb3->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb3->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
btSoftBodyHelpers::generateBoundaryFaces(psb3);
getDeformableDynamicsWorld()->addSoftBody(psb3);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb3, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(4,8,.1);
getDeformableDynamicsWorld()->addForce(psb3, neohookean);
m_forces.push_back(neohookean);
}
// add a pair of grippers
createGrip();
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);