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change default damping model for mass spring to the angular momentum conserving one

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Xuchen Han
2019-12-31 14:08:21 -08:00
parent 4ab550d358
commit 78a8ddb466
2 changed files with 7 additions and 7 deletions
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12
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -425,12 +425,12 @@ public:
m_robotSim.setGravity(btVector3(0, 0, -10)); m_robotSim.setGravity(btVector3(0, 0, -10));
b3RobotSimulatorLoadDeformableBodyArgs args(2, .01, 0.006); b3RobotSimulatorLoadDeformableBodyArgs args(2, .01, 0.006);
args.m_springElasticStiffness = .1; args.m_springElasticStiffness = 1;
args.m_springDampingStiffness = .0004; args.m_springDampingStiffness = .01;
args.m_springBendingStiffness = 1; args.m_springBendingStiffness = .1;
args.m_frictionCoeff = 1; args.m_frictionCoeff = 10;
args.m_useSelfCollision = false; args.m_useSelfCollision = false;
// args.m_useFaceContact = true; args.m_useFaceContact = true;
args.m_useBendingSprings = true; args.m_useBendingSprings = true;
args.m_startPosition.setValue(0, 0, 0); args.m_startPosition.setValue(0, 0, 0);
args.m_startOrientation.setValue(0, 0, 1, 1); args.m_startOrientation.setValue(0, 0, 1, 1);
@@ -476,7 +476,7 @@ public:
revoluteJoint2.m_jointType = ePoint2PointType; revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1); m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1);
m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2); m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
m_robotSim.setNumSimulationSubSteps(8); m_robotSim.setNumSimulationSubSteps(2);
} }
if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0) if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8148,7 +8148,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{ {
spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness; 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); deformWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce); m_data->m_lf.push_back(springForce);
} }