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add demo for deformable contact

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This commit is contained in:
Xuchen Han
2019-09-16 16:04:59 -07:00
parent 1bfb226be8
commit a92a8f1135
5 changed files with 284 additions and 87 deletions
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84
examples/DeformableDemo/GraspDeformable.cpp
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@@ -103,11 +103,6 @@ public:
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)mb->getLink(link).m_userPtr;
if (motor)
{
// if (dofIndex == 10 || dofIndex == 11)
// {
// motor->setVelocityTarget(fingerTargetVelocities[1], 1);
// motor->setMaxAppliedImpulse(1);
// }
if (dofIndex == 6)
{
motor->setVelocityTarget(-fingerTargetVelocities[1], 1);
@@ -118,7 +113,6 @@ public:
motor->setVelocityTarget(fingerTargetVelocities[1], 1);
motor->setMaxAppliedImpulse(2);
}
// motor->setRhsClamp(SIMD_INFINITY);
motor->setMaxAppliedImpulse(1);
}
}
@@ -127,9 +121,8 @@ public:
}
//use a smaller internal timestep, there are stability issues
float internalTimeStep = 1. / 250.f;
float internalTimeStep = 1. / 240.f;
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
btSoftBodyHelpers::writeObj("/Users/xuchenhan/Desktop/paper.obj", getDeformableDynamicsWorld()->getSoftBodyArray()[0]);
}
void createGrip()
@@ -193,54 +186,11 @@ void GraspDeformable::initPhysics()
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
// deformableBodySolver->setWorld(getDeformableDynamicsWorld());
btVector3 gravity = btVector3(0, -9.81, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
// // load a gripper
// {
// btTransform rootTrans;
// rootTrans.setIdentity();
// BulletURDFImporter u2b(m_guiHelper,0,0,50,0);
// bool forceFixedBase = false;
// bool loadOk = u2b.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", forceFixedBase);
// if (loadOk)
// {
// for (int m = 0; m < u2b.getNumModels(); m++)
// {
// u2b.activateModel(m);
//
// btMultiBody* mb = 0;
//
// MyMultiBodyCreator creation(m_guiHelper);
//
// u2b.getRootTransformInWorld(rootTrans);
// ConvertURDF2Bullet(u2b, creation, rootTrans, getDeformableDynamicsWorld(), true, u2b.getPathPrefix(), CUF_USE_SDF+CUF_RESERVED);
// mb = creation.getBulletMultiBody();
//
// int numLinks = mb->getNumLinks();
// for (int i = 0; i < numLinks; i++)
// {
// int mbLinkIndex = i;
// float maxMotorImpulse = 1.f;
//
// if (supportsJointMotor(mb, mbLinkIndex))
// {
// int dof = 0;
// btScalar desiredVelocity = 0.f;
// btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb, mbLinkIndex, dof, desiredVelocity, maxMotorImpulse);
// motor->setPositionTarget(0, 0);
// motor->setVelocityTarget(0, 1);
// mb->getLink(mbLinkIndex).m_userPtr = motor;
// getDeformableDynamicsWorld()->addMultiBodyConstraint(motor);
// motor->finalizeMultiDof();
// }
// }
// }
// }
// }
// build a gripper
{
bool damping = true;
@@ -274,7 +224,6 @@ void GraspDeformable::initPhysics()
}
}
if (!damping)
{
mbC->setLinearDamping(0.0f);
@@ -288,10 +237,9 @@ void GraspDeformable::initPhysics()
btScalar q0 = 0.f * SIMD_PI / 180.f;
if (numLinks > 0)
mbC->setJointPosMultiDof(0, &q0);
///
addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents);
}
//create a ground
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
@@ -326,13 +274,13 @@ void GraspDeformable::initPhysics()
{
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("ball.vtk", relative_path, 1024);
// b3FileUtils::findFile("paper_collision.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);
// b3FileUtils::findFile("bread.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);
// btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
@@ -343,28 +291,24 @@ void GraspDeformable::initPhysics()
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path);
// psb->scale(btVector3(30, 30, 30)); // for banana
// psb->scale(btVector3(.25, .25, .25));
// psb->scale(btVector3(2, 2, 2));
psb->scale(btVector3(.05, .05, .05));
// psb->scale(btVector3(2, 2, 2));
// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
// psb->scale(btVector3(1, 1, 1)); // for ditto
// psb->translate(btVector3(.25, 0, 0.4));
psb->translate(btVector3(.25, 2, 0.4));
psb->getCollisionShape()->setMargin(0.02);
psb->setTotalMass(.1);
psb->setTotalMass(.01);
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.kDF = 20;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
// btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.0,.04, true);
// getDeformableDynamicsWorld()->addForce(psb, mass_spring);
// m_forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(5,10);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(250,500);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
}