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update examples to include NeoHookean Model and new damping model

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This commit is contained in:
Xuchen Han
2019-08-19 12:04:10 -07:00
parent 44e7c4a96d
commit 9af25430ac
5 changed files with 13 additions and 11 deletions
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2
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -224,7 +224,7 @@ void DeformableMultibody::initPhysics()
psb->m_cfg.kDF = .1; psb->m_cfg.kDF = .1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01, false));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
} }

2
examples/DeformableDemo/DeformableRigid.cpp
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@@ -233,7 +233,7 @@ void DeformableRigid::initPhysics()
psb->m_cfg.kDF = 1; psb->m_cfg.kDF = 1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.05)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01, false));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// add a few rigid bodies // add a few rigid bodies

13
examples/DeformableDemo/GraspDeformable.cpp
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@@ -191,7 +191,7 @@ void GraspDeformable::initPhysics()
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver); m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
deformableBodySolver->setWorld(getDeformableDynamicsWorld()); deformableBodySolver->setWorld(getDeformableDynamicsWorld());
btVector3 gravity = btVector3(0, -10, 0); btVector3 gravity = btVector3(0, -9.81, 0);
m_dynamicsWorld->setGravity(gravity); m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity; getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
@@ -316,7 +316,7 @@ void GraspDeformable::initPhysics()
body->setFriction(0.1); body->setFriction(0.1);
//add the ground to the dynamics world //add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body); m_dynamicsWorld->addRigidBody(body,1,1+2);
} }
// create a soft block // create a soft block
@@ -342,22 +342,23 @@ void GraspDeformable::initPhysics()
// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot // psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
// psb->scale(btVector3(1, 1, 1)); // for ditto // psb->scale(btVector3(1, 1, 1)); // for ditto
// psb->translate(btVector3(0, 0, 2)); for boot // psb->translate(btVector3(0, 0, 2)); for boot
psb->getCollisionShape()->setMargin(0.02); psb->getCollisionShape()->setMargin(0.01);
psb->setTotalMass(.1); psb->setTotalMass(.1);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 10; psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addSoftBody(psb);
psb->getWorldInfo()->m_maxDisplacement = .1f;
// nonlinear damping // nonlinear damping
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.04, true)); // getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.04, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); // getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6)); // getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6));
// linear damping // linear damping
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.01, false)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.5,0.04, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(6,6)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(2,10));
} }
// // create a piece of cloth // // create a piece of cloth

3
examples/DeformableDemo/Pinch.cpp
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@@ -336,8 +336,9 @@ void Pinch::initPhysics()
psb->m_cfg.kDF = 2; psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.02)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1, 0.05));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(.2,1));
// add a grippers // add a grippers
createGrip(); createGrip();
} }

4
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -236,9 +236,9 @@ void VolumetricDeformable::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 0.5; psb->m_cfg.kDF = 0.5;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.01)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.03));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(.5,.5)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableNeoHookeanForce(.5,2.5));
} }
// add a few rigid bodies // add a few rigid bodies
Ctor_RbUpStack(4); Ctor_RbUpStack(4);