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Support btMultiBody soft contact using ERP and CFM. Also support custom relaxation parameter to allow successive over relaxation.

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Added demos for rigid and multi body soft (compliant) contact.
Will also add simplified Hertz compliant contact, by dynamically modifying the ERP/CFM to mimic a non-linear spring.
Note that btManifoldPoint is growing too big, we need to implement proper contact constraints derived from btTypedConstraint.
This commit is contained in:
erwin coumans
2016-02-22 18:40:00 -08:00
parent a3154f7a56
commit 6c9bfce975
10 changed files with 435 additions and 19 deletions
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2
examples/ExampleBrowser/CMakeLists.txt
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@@ -137,6 +137,7 @@ SET(App_ExampleBrowser_SRCS
../Vehicles/Hinge2Vehicle.cpp
../Vehicles/Hinge2Vehicle.h
../MultiBody/Pendulum.cpp
../MultiBody/MultiBodySoftContact.cpp
../MultiBody/TestJointTorqueSetup.cpp
../MultiBody/TestJointTorqueSetup.h
../MultiBody/InvertedPendulumPDControl.cpp
@@ -144,6 +145,7 @@ SET(App_ExampleBrowser_SRCS
../MultiBody/MultiBodyConstraintFeedback.cpp
../MultiBody/MultiDofDemo.cpp
../MultiBody/MultiDofDemo.h
../RigidBody/RigidBodySoftContact.cpp
../Constraints/TestHingeTorque.cpp
../Constraints/TestHingeTorque.h
../Constraints/ConstraintDemo.cpp

9
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -22,10 +22,11 @@
#include "../Constraints/ConstraintPhysicsSetup.h"
#include "../MultiBody/TestJointTorqueSetup.h"
#include "../MultiBody/Pendulum.h"
#include "../MultiBody/MultiBodySoftContact.h"
#include "../MultiBody/MultiBodyConstraintFeedback.h"
#include "../MultiBody/MultiDofDemo.h"
#include "../MultiBody/InvertedPendulumPDControl.h"
#include "../RigidBody/RigidBodySoftContact.h"
#include "../VoronoiFracture/VoronoiFractureDemo.h"
#include "../SoftDemo/SoftDemo.h"
#include "../Constraints/ConstraintDemo.h"
@@ -103,6 +104,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Gyroscopic", "Show the Dzhanibekov effect using various settings of the gyroscopic term. You can select the gyroscopic term computation using btRigidBody::setFlags, with arguments BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT (using explicit integration, which adds energy and can lead to explosions), BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD, BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY. If you don't set any of these flags, there is no gyroscopic term used.", GyroscopicCreateFunc),
ExampleEntry(1,"Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",RigidBodySoftContactCreateFunc),
@@ -113,12 +115,13 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
ExampleEntry(1,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
ExampleEntry(0,"Inverse Dynamics"),
ExampleEntry(1,"Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_LOAD_URDF),
ExampleEntry(1,"Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc,BT_ID_PROGRAMMATICALLY),
ExampleEntry(0,"Tutorial"),
ExampleEntry(1,"Constant Velocity","Free moving rigid body, without external or constraint forces", TutorialCreateFunc,TUT_VELOCITY),

2
examples/ExampleBrowser/premake4.lua
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@@ -101,8 +101,10 @@
"../MultiBody/MultiDofDemo.cpp",
"../MultiBody/TestJointTorqueSetup.cpp",
"../MultiBody/Pendulum.cpp",
"../MultiBody/MultiBodySoftContact.cpp",
"../MultiBody/MultiBodyConstraintFeedback.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../RigidBody/RigidBodySoftContact.cpp",
"../ThirdPartyLibs/stb_image/*",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
"../ThirdPartyLibs/tinyxml/*",