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set a smaller dt for deformable_ball.py for stability and typo fix

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This commit is contained in:
Xuchen Han
2019-11-25 15:46:21 -08:00
parent abd7a556e1
commit 39df98465e
3 changed files with 4 additions and 5 deletions
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6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1642,7 +1642,6 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<btDeformableLagrangianForce*> m_lf; btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
#endif #endif
btMultiBodyDynamicsWorld* m_dynamicsWorld; btMultiBodyDynamicsWorld* m_dynamicsWorld;
int m_constraintSolverType; int m_constraintSolverType;
@@ -1713,7 +1712,6 @@ struct PhysicsServerCommandProcessorInternalData
m_deformablebodySolver(0), m_deformablebodySolver(0),
#endif #endif
m_dynamicsWorld(0), m_dynamicsWorld(0),
m_deformablebodySolver(0),
m_constraintSolverType(-1), m_constraintSolverType(-1),
m_remoteDebugDrawer(0), m_remoteDebugDrawer(0),
m_stateLoggersUniqueId(0), m_stateLoggersUniqueId(0),
@@ -8104,7 +8102,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{ {
std::vector<tinyobj::shape_t> shapes; std::vector<tinyobj::shape_t> shapes;
tinyobj::attrib_t attribute; tinyobj::attrib_t attribute;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
if (!shapes.empty()) if (!shapes.empty())
{ {
const tinyobj::shape_t& shape = shapes[0]; const tinyobj::shape_t& shape = shapes[0];
@@ -8153,7 +8151,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
} }
#endif #endif
} }
else if (out_type == UrdfGeometry::FILE_VTK) else if (out_sim_type == UrdfGeometry::FILE_VTK)
{ {
#ifndef SKIP_DEFORMABLE_BODY #ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld(); btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();

1
examples/pybullet/examples/deformable_ball.py
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@@ -13,6 +13,7 @@ planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True) boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
ballId = p.loadSoftBody("ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 0.1, useNeoHookean = 1, NeoHookeanMu = 20, NeoHookeanLambda = 20, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5) ballId = p.loadSoftBody("ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 0.1, useNeoHookean = 1, NeoHookeanMu = 20, NeoHookeanLambda = 20, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5)
p.setTimeStep(0.001)
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25) p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(1) p.setRealTimeSimulation(1)

2
src/BulletSoftBody/btSoftBody.cpp
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@@ -2460,7 +2460,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
// const btTransform& wtr = colObjWrap->getWorldTransform(); // const btTransform& wtr = colObjWrap->getWorldTransform();
btScalar dst; btScalar dst;
#define USE_QUADRATURE 1 //#define USE_QUADRATURE 1
//#define CACHE_PREV_COLLISION //#define CACHE_PREV_COLLISION
// use the contact position of the previous collision // use the contact position of the previous collision