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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2019-10-30 10:32:58 -07:00
parent 5a9b862ef5 8aa7f93bf1
commit b2732b16be
2 changed files with 23 additions and 17 deletions
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4
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_extended_env.py
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@@ -122,7 +122,7 @@ class MinitaurExtendedEnv(MinitaurReactiveEnv):
leg_model = [] leg_model = []
if self._include_leg_model: if self._include_leg_model:
raw_motor_angles = self.minitaur.GetMotorAngles() raw_motor_angles = self.minitaur.GetMotorAngles()
leg_model = self._convert_to_leg_model(raw_motor_angles) leg_model = self.convert_to_leg_model(raw_motor_angles)
observation_list = ( observation_list = (
[parent_observation] + history_states + history_actions + [parent_observation] + history_states + history_actions +
@@ -185,7 +185,7 @@ class MinitaurExtendedEnv(MinitaurReactiveEnv):
if self._never_terminate: if self._never_terminate:
return False return False
leg_model = self._convert_to_leg_model(self.minitaur.GetMotorAngles()) leg_model = self.convert_to_leg_model(self.minitaur.GetMotorAngles())
swing0 = leg_model[0] swing0 = leg_model[0]
swing1 = leg_model[2] swing1 = leg_model[2]
maximum_swing_angle = 0.8 maximum_swing_angle = 0.8

12
src/BulletSoftBody/btDeformableNeoHookeanForce.h
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@@ -176,24 +176,30 @@ public:
btMatrix3x3 P; btMatrix3x3 P;
firstPiola(psb->m_tetraScratches[j],P); firstPiola(psb->m_tetraScratches[j],P);
#if USE_SVD #if USE_SVD
if (max_p > 0)
{
// since we want to clamp the principal stress to max_p, we only need to
// calculate SVD when sigma_0^2 + sigma_1^2 + sigma_2^2 > max_p * max_p
btScalar trPTP = (P[0].length2() + P[1].length2() + P[2].length2());
if (trPTP > max_p * max_p)
{
btMatrix3x3 U, V; btMatrix3x3 U, V;
btVector3 sigma; btVector3 sigma;
singularValueDecomposition(P, U, sigma, V); singularValueDecomposition(P, U, sigma, V);
if (max_p > 0)
{
sigma[0] = btMin(sigma[0], max_p); sigma[0] = btMin(sigma[0], max_p);
sigma[1] = btMin(sigma[1], max_p); sigma[1] = btMin(sigma[1], max_p);
sigma[2] = btMin(sigma[2], max_p); sigma[2] = btMin(sigma[2], max_p);
sigma[0] = btMax(sigma[0], -max_p); sigma[0] = btMax(sigma[0], -max_p);
sigma[1] = btMax(sigma[1], -max_p); sigma[1] = btMax(sigma[1], -max_p);
sigma[2] = btMax(sigma[2], -max_p); sigma[2] = btMax(sigma[2], -max_p);
}
btMatrix3x3 Sigma; btMatrix3x3 Sigma;
Sigma.setIdentity(); Sigma.setIdentity();
Sigma[0][0] = sigma[0]; Sigma[0][0] = sigma[0];
Sigma[1][1] = sigma[1]; Sigma[1][1] = sigma[1];
Sigma[2][2] = sigma[2]; Sigma[2][2] = sigma[2];
P = U * Sigma * V.transpose(); P = U * Sigma * V.transpose();
}
}
#endif #endif
// btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col); // btVector3 force_on_node0 = P * (tetra.m_Dm_inverse.transpose()*grad_N_hat_1st_col);
btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose(); btMatrix3x3 force_on_node123 = P * tetra.m_Dm_inverse.transpose();