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Merge pull request #2577 from xhan0619/master

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Add position error into deformable vs. rigid contact
This commit is contained in:
erwincoumans
2020-01-11 16:05:15 -08:00
committed by GitHub
parent a9615258d3 ee2a811c09
commit 66ffa329c8
20 changed files with 199 additions and 138 deletions
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6
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -206,15 +206,15 @@ void DeformableMultibody::initPhysics()
psb->getCollisionShape()->setMargin(0.25);
psb->generateBendingConstraints(2);
psb->setTotalMass(5);
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 = .1;
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->setCollisionFlags(0);
getDeformableDynamicsWorld()->addSoftBody(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.01, false);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30, 1, true);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
m_forces.push_back(mass_spring);

2
examples/DeformableDemo/DeformableRigid.cpp
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@@ -219,7 +219,7 @@ void DeformableRigid::initPhysics()
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 = .4;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);

4
examples/DeformableDemo/GraspDeformable.cpp
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@@ -275,12 +275,12 @@ void GraspDeformable::initPhysics()
{
char absolute_path[1024];
b3BulletDefaultFileIO fileio;
fileio.findResourcePath("ditto.vtk", absolute_path, 1024);
fileio.findResourcePath("ditto.vtk", absolute_path, 1024);
// fileio.findResourcePath("banana.vtk", absolute_path, 1024);
// fileio.findResourcePath("ball.vtk", absolute_path, 1024);
// fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024);
// fileio.findResourcePath("single_tet.vtk", absolute_path, 1024);
// fileio.findResourcePath("tube.vtk", absolute_path, 1024);
// fileio.findResourcePath("tube.vtk", absolute_path, 1024);
// fileio.findResourcePath("torus.vtk", absolute_path, 1024);
// fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024);
// fileio.findResourcePath("bread.vtk", absolute_path, 1024);

2
examples/DeformableDemo/Pinch.cpp
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@@ -231,7 +231,7 @@ void Pinch::initPhysics()
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
getDeformableDynamicsWorld()->setSolverCallback(dynamics);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);

12
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -425,12 +425,12 @@ public:
m_robotSim.setGravity(btVector3(0, 0, -10));
b3RobotSimulatorLoadDeformableBodyArgs args(2, .01, 0.006);
args.m_springElasticStiffness = .1;
args.m_springDampingStiffness = .0004;
args.m_springBendingStiffness = 1;
args.m_frictionCoeff = 1;
args.m_springElasticStiffness = 1;
args.m_springDampingStiffness = .01;
args.m_springBendingStiffness = .1;
args.m_frictionCoeff = 10;
args.m_useSelfCollision = false;
// args.m_useFaceContact = true;
args.m_useFaceContact = true;
args.m_useBendingSprings = true;
args.m_startPosition.setValue(0, 0, 0);
args.m_startOrientation.setValue(0, 0, 1, 1);
@@ -476,7 +476,7 @@ public:
revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1);
m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
m_robotSim.setNumSimulationSubSteps(8);
m_robotSim.setNumSimulationSubSteps(2);
}
if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8153,7 +8153,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{
spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness;
}
btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false, spring_bending_stiffness);
btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true, spring_bending_stiffness);
deformWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
}