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

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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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7
examples/pybullet/pybullet.c
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@@ -1973,7 +1973,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
int physicsClientId = 0;
int flags = 0;
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", NULL};
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "springBendingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", NULL};
int bodyUniqueId = -1;
const char* fileName = "";
@@ -1985,6 +1985,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
int useNeoHookean = 0;
double springElasticStiffness = 1;
double springDampingStiffness = 0.1;
double springBendingStiffness = 0.1;
double NeoHookeanMu = 1;
double NeoHookeanLambda = 1;
double NeoHookeanDamping = 0.1;
@@ -2002,7 +2003,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
PyObject* basePosObj = 0;
PyObject* baseOrnObj = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiiiddddddii", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiiidddddddii", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &springBendingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision))
{
return NULL;
}
@@ -2058,7 +2059,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
if (useMassSpring)
{
b3LoadSoftBodyAddMassSpringForce(command, springElasticStiffness, springDampingStiffness);
b3LoadSoftBodyUseBendingSprings(command, useBendingSprings);
b3LoadSoftBodyUseBendingSprings(command, useBendingSprings, springBendingStiffness);
}
if (useNeoHookean)
{