From 991be526813a8675360bcbd7d59255141351186e Mon Sep 17 00:00:00 2001 From: Xuchen Han Date: Mon, 12 Aug 2019 11:08:11 -0700 Subject: [PATCH] add more volumetric meshes for grasping tests --- data/ball.vtk | 5681 +++++ data/banana.vtk | 5524 +++++ data/boot.vtk | 5457 ++++ data/bread.vtk | 5459 ++++ data/ditto.vtk | 23419 ++++++++++++++++++ data/paper_roll.vtk | 5057 ++++ data/torus.vtk | 9917 ++++++++ data/tube.vtk | 5051 ++++ examples/DeformableDemo/GraspDeformable.cpp | 71 +- 9 files changed, 65625 insertions(+), 11 deletions(-) create mode 100644 data/ball.vtk create mode 100644 data/banana.vtk create mode 100644 data/boot.vtk create mode 100644 data/bread.vtk create mode 100644 data/ditto.vtk create mode 100644 data/paper_roll.vtk create mode 100644 data/torus.vtk create mode 100644 data/tube.vtk diff --git a/data/ball.vtk b/data/ball.vtk new file mode 100644 index 000000000..a5007a034 --- /dev/null +++ b/data/ball.vtk @@ -0,0 +1,5681 @@ +# vtk DataFile Version 2.0 +ball_, 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+10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 +10 diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index 6596c07d7..c71929234 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -31,7 +31,8 @@ #include "../CommonInterfaces/CommonMultiBodyBase.h" #include "../CommonInterfaces/CommonGraphicsAppInterface.h" #include "../CommonInterfaces/CommonParameterInterface.h" - +#include "../CommonInterfaces/CommonFileIOInterface.h" +#include "Bullet3Common/b3FileUtils.h" ///The GraspDeformable shows the use of rolling friction. ///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same. @@ -125,7 +126,7 @@ public: } //use a smaller internal timestep, there are stability issues - float internalTimeStep = 1. / 250.f; + float internalTimeStep = 1. / 400.f; m_dynamicsWorld->stepSimulation(deltaTime, 5, internalTimeStep); } @@ -312,7 +313,7 @@ void GraspDeformable::initPhysics() btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); btRigidBody* body = new btRigidBody(rbInfo); - body->setFriction(0.5); + body->setFriction(0); //add the ground to the dynamics world m_dynamicsWorld->addRigidBody(body); @@ -320,18 +321,32 @@ void GraspDeformable::initPhysics() // create a soft block { - btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), - TetraCube::getElements(), - 0, - TetraCube::getNodes(), - false, true, true); + char relative_path[1024]; +// b3FileUtils::findFile("banana.vtk", relative_path, 1024); + b3FileUtils::findFile("ball.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); +// b3FileUtils::findFile("bread.vtk", relative_path, 1024); +// b3FileUtils::findFile("ditto.vtk", relative_path, 1024); +// b3FileUtils::findFile("boot.vtk", relative_path, 1024); + std::string path(relative_path); +// btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), +// TetraCube::getElements(), +// 0, +// TetraCube::getNodes(), +// false, true, true); + btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), path); +// psb->scale(btVector3(30, 30, 30)); // for banana psb->scale(btVector3(2, 2, 2)); - psb->translate(btVector3(0, 0, 0)); +// 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(0.1); psb->setTotalMass(1); psb->setSpringStiffness(0); - psb->setDampingCoefficient(0.1); + psb->setDampingCoefficient(.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; @@ -339,9 +354,43 @@ void GraspDeformable::initPhysics() getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); - getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(1,1)); + getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(10,10)); } +// // create a piece of cloth +// { +// bool onGround = false; +// const btScalar s = 4; +// btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s), +// btVector3(+s, 0, -s), +// btVector3(-s, 0, +s), +// btVector3(+s, 0, +s), +// 20,20, +// 0, true); +// +// if (onGround) +// psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s), +// btVector3(+s, 0, -s), +// btVector3(-s, 0, +s), +// btVector3(+s, 0, +s), +// // 20,20, +// 2,2, +// 0, true); +// +// psb->getCollisionShape()->setMargin(0.1); +// psb->generateBendingConstraints(2); +// psb->setTotalMass(1); +// psb->setSpringStiffness(2); +// psb->setDampingCoefficient(0.03); +// 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.collisions = btSoftBody::fCollision::SDF_RD; +// getDeformableDynamicsWorld()->addSoftBody(psb); +// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce()); +// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); +// } + m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); {