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add more volumetric meshes for grasping tests

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This commit is contained in:
Xuchen Han
2019-08-12 11:08:11 -07:00
parent cb7257d27b
commit 991be52681
9 changed files with 65625 additions and 11 deletions
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71
examples/DeformableDemo/GraspDeformable.cpp
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@@ -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);
{