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This commit is contained in:
Xuchen Han
2019-08-28 10:01:14 -07:00
parent 5826492020
commit 7d1b93cc17
9 changed files with 63 additions and 38 deletions
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4
examples/DeformableDemo/DeformableRigid.cpp
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@@ -234,11 +234,11 @@ void DeformableRigid::initPhysics()
psb->setTotalMass(1);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 1;
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.01, false);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.1, true);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
m_forces.push_back(mass_spring);

24
examples/DeformableDemo/GraspDeformable.cpp
View File

@@ -325,7 +325,8 @@ void GraspDeformable::initPhysics()
{
char relative_path[1024];
// b3FileUtils::findFile("banana.vtk", relative_path, 1024);
b3FileUtils::findFile("ball.vtk", relative_path, 1024);
b3FileUtils::findFile("ball.vtk", relative_path, 1024);
// b3FileUtils::findFile("single_tet.vtk", relative_path, 1024);
// b3FileUtils::findFile("tube.vtk", relative_path, 1024);
// b3FileUtils::findFile("torus.vtk", relative_path, 1024);
// b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024);
@@ -343,21 +344,16 @@ void GraspDeformable::initPhysics()
psb->scale(btVector3(.25, .25, .25));
// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
// psb->scale(btVector3(1, 1, 1)); // for ditto
// psb->translate(btVector3(0, 0, 2)); for boot
psb->getCollisionShape()->setMargin(0.01);
psb->translate(btVector3(.25, 0, 0.4));
psb->getCollisionShape()->setMargin(0.02);
psb->setTotalMass(.1);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
psb->getWorldInfo()->m_maxDisplacement = .1f;
// nonlinear damping
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.04, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6));
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.0,0.04, true);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.0,.04, true);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
m_forces.push_back(mass_spring);
@@ -365,7 +361,7 @@ void GraspDeformable::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(2,10);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(5,10);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
}
@@ -415,8 +411,8 @@ void GraspDeformable::initPhysics()
{
SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
slider.m_minVal = -.1;
slider.m_maxVal = .1;
slider.m_minVal = -.3;
slider.m_maxVal = .3;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
@@ -470,8 +466,8 @@ btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWor
{
//init the base
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
float baseMass = 1.f;
float linkMass = 1.f;
float baseMass = 100.f;
float linkMass = 100.f;
int numLinks = 2;
if (baseMass)