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decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm)

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tweak pr2 gripper.
This commit is contained in:
erwin coumans
2016-09-20 12:37:13 -07:00
parent 8d4c99801e
commit 0a628f06cc
10 changed files with 214 additions and 40 deletions
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20
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -596,8 +596,9 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.04;
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.05;
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
@@ -2839,7 +2840,7 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
m_data->m_logPlayback = pb;
}
btVector3 gVRGripperPos(0,0,0);
btVector3 gVRGripperPos(0,0,0.2);
btQuaternion gVRGripperOrn(0,0,0,1);
btScalar gVRGripperAnalog = 0;
bool gVRGripperClosed = false;
@@ -2911,26 +2912,25 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
loadUrdf("kuka_iiwa/model.urdf", btVector3(3, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("cube_small.urdf", btVector3(0.2, 0.2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("cube_small.urdf", btVector3(0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// loadUrdf("cube_small.urdf", btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
#endif
//#define JENGA 1
#ifdef JENGA
int jengaHeight = 17;
#if 0
int jengaHeight = 10;
for (int j = 0; j < jengaHeight; j++)
{
for (int i = 0; i < 3; i++)
{
if (j & 1)
{
loadUrdf("jenga/jenga.urdf", btVector3(-0.5+0, 0.025*i, .0151*0.5 + .015*j), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("jenga/jenga.urdf", btVector3(-0.5, 0.05*i, .03*0.5 + .03*j), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
else
{
btQuaternion orn(btVector3(0, 0, 1), SIMD_HALF_PI);
loadUrdf("jenga/jenga.urdf", btVector3(-0.5 -1 / 3.*0.075 + 0.025*i, +1 / 3.*0.075,0.0151*0.5 + .015*j), orn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("jenga/jenga.urdf", btVector3(-0.5 -1 / 3.*0.15 + 0.05*i, +1 / 3.*0.15,0.03*0.5 + .03*j), orn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
}
}
@@ -2944,6 +2944,8 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
loadUrdf("teddy_vhacd.urdf", btVector3(1, 1, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
}
if (m_data->m_gripperRigidbodyFixed && m_data->m_gripperMultiBody)