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add option to set stress clamping limit

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This commit is contained in:
Xuchen Han
2019-10-12 18:48:56 -07:00
parent 9e29f7108d
commit a7222d8a9f
4 changed files with 49 additions and 62 deletions
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37
examples/DeformableDemo/GraspDeformable.cpp
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@@ -190,6 +190,7 @@ void GraspDeformable::initPhysics()
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
// build a gripper
if(1)
{
bool damping = true;
bool gyro = false;
@@ -269,18 +270,18 @@ void GraspDeformable::initPhysics()
}
// create a soft block
if(0)
if(1)
{
char relative_path[1024];
// b3FileUtils::findFile("banana.vtk", relative_path, 1024);
// b3FileUtils::findFile("ball.vtk", relative_path, 1024);
// b3FileUtils::findFile("paper_collision.vtk", relative_path, 1024);
// b3FileUtils::findFile("deformable_crumpled_napkin_sim.vtk", relative_path, 1024);
// b3FileUtils::findFile("single_tet.vtk", relative_path, 1024);
b3FileUtils::findFile("tube.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("ditto.vtk", relative_path, 1024);
// b3FileUtils::findFile("boot.vtk", relative_path, 1024);
// btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
// TetraCube::getElements(),
@@ -290,12 +291,13 @@ void GraspDeformable::initPhysics()
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path);
// psb->scale(btVector3(30, 30, 30)); // for banana
// psb->scale(btVector3(.2, .2, .2));
psb->scale(btVector3(.7, .7, .7));
// psb->scale(btVector3(2, 2, 2));
psb->scale(btVector3(.1, .1, .1)); // for tube, torus, boot
// psb->scale(btVector3(.1, .1, .1)); // for ditto
// psb->translate(btVector3(.25, 2, 0.4));
psb->getCollisionShape()->setMargin(0.01);
// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
psb->scale(btVector3(.1, .1, .1)); // for ditto
// psb->translate(btVector3(.25, 10, 0.4));
psb->getCollisionShape()->setMargin(0.0005);
psb->setMaxStress(50);
psb->setTotalMass(.01);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
@@ -307,20 +309,22 @@ void GraspDeformable::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(100,200, 0.05);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(8,32, .05);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
}
getDeformableDynamicsWorld()->setImplicit(false);
// create a piece of cloth
if(0)
{
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),
const btScalar s = .1;
const btScalar h = 1;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
btVector3(+s, h, -s),
btVector3(-s, h, +s),
btVector3(+s, h, +s),
20,20,
0, true);
@@ -344,7 +348,8 @@ void GraspDeformable::initPhysics()
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.2,0.02, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.0,0.0, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.05, false));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
}