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separate in-plane and bending stiffness for mass spring model for easier parameter tuning

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This commit is contained in:
Xuchen Han
2019-11-27 11:40:10 -08:00
parent 574343405d
commit 7bce5d61f4
6 changed files with 50 additions and 35 deletions
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33
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8070,7 +8070,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{
collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin;
}
btScalar spring_bending_stiffness = 0;
{
btSoftBody* psb = NULL;
@@ -8137,7 +8137,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
}
}
#ifndef SKIP_DEFORMABLE_BODY
btScalar spring_elastic_stiffness, spring_damping_stiffness;
btScalar spring_elastic_stiffness, spring_damping_stiffness;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
{
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
@@ -8145,7 +8145,11 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false);
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
{
spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness;
}
btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false, spring_bending_stiffness);
deformWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
}
@@ -8178,12 +8182,16 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
deformWorld->addForce(psb, neohookeanForce);
m_data->m_lf.push_back(neohookeanForce);
}
btScalar spring_elastic_stiffness, spring_damping_stiffness;
btScalar spring_elastic_stiffness, spring_damping_stiffness;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
{
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true);
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
{
spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness;
}
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);
}
@@ -8258,19 +8266,18 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
friction_coeff = loadSoftBodyArgs.m_frictionCoeff;
}
psb->m_cfg.kDF = friction_coeff;
bool use_bending_spring = true;
bool use_bending_spring = false;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
{
use_bending_spring = loadSoftBodyArgs.m_useBendingSprings;
use_bending_spring = loadSoftBodyArgs.m_useBendingSprings;
if (use_bending_spring)
{
psb->generateBendingConstraints(2);
}
}
btSoftBody::Material* pm = psb->appendMaterial();
pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
if (use_bending_spring)
{
psb->generateBendingConstraints(2,pm);
}
// turn on the collision flag for deformable
// collision between deformable and rigid
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;