From 78a8ddb46662bbfe77215d8ec48ea15299704eb0 Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Tue, 31 Dec 2019 14:08:21 -0800 Subject: [PATCH] change default damping model for mass spring to the angular momentum conserving one --- examples/RoboticsLearning/GripperGraspExample.cpp | 12 ++++++------ .../SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp index a07e36c77..e500c412c 100644 --- a/examples/RoboticsLearning/GripperGraspExample.cpp +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -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) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 9b0b3e089..42bd29c7f 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -8148,7 +8148,7 @@ 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); }