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check in a good set of parameters for grasping deformable ball

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This commit is contained in:
Xuchen Han
2019-08-15 17:16:32 -07:00
parent f8c60e9e3c
commit b507fe77ca
2 changed files with 21 additions and 19 deletions
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38
examples/DeformableDemo/GraspDeformable.cpp
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@@ -73,7 +73,7 @@ public:
void resetCamera() void resetCamera()
{ {
float dist = 20; float dist = 2;
float pitch = -45; float pitch = -45;
float yaw = 100; float yaw = 100;
float targetPos[3] = {0, -0, 0}; float targetPos[3] = {0, -0, 0};
@@ -126,8 +126,8 @@ public:
} }
//use a smaller internal timestep, there are stability issues //use a smaller internal timestep, there are stability issues
float internalTimeStep = 1. / 240.f; float internalTimeStep = 1. / 250.f;
m_dynamicsWorld->stepSimulation(deltaTime, 5, internalTimeStep); m_dynamicsWorld->stepSimulation(deltaTime, 100, internalTimeStep);
} }
void createGrip() void createGrip()
@@ -245,9 +245,9 @@ void GraspDeformable::initPhysics()
bool canSleep = false; bool canSleep = false;
bool selfCollide = true; bool selfCollide = true;
int numLinks = 2; int numLinks = 2;
btVector3 linkHalfExtents(1., 2, .4); btVector3 linkHalfExtents(.1, .2, .04);
btVector3 baseHalfExtents(1, 0.2, 2); btVector3 baseHalfExtents(.1, 0.02, .2);
btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 7.f,0.f), linkHalfExtents, baseHalfExtents, false); btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, .7f,0.f), linkHalfExtents, baseHalfExtents, false);
mbC->setCanSleep(canSleep); mbC->setCanSleep(canSleep);
mbC->setHasSelfCollision(selfCollide); mbC->setHasSelfCollision(selfCollide);
@@ -297,7 +297,7 @@ void GraspDeformable::initPhysics()
btTransform groundTransform; btTransform groundTransform;
groundTransform.setIdentity(); groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -25-2.1, 0)); groundTransform.setOrigin(btVector3(0, -25-.6, 0));
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0)); groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here: //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
btScalar mass(0.); btScalar mass(0.);
@@ -313,7 +313,7 @@ void GraspDeformable::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo); btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(0); 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);
@@ -339,22 +339,22 @@ void GraspDeformable::initPhysics()
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), path); btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), path);
// psb->scale(btVector3(30, 30, 30)); // for banana // psb->scale(btVector3(30, 30, 30)); // for banana
psb->scale(btVector3(2, 2, 2)); // psb->scale(btVector3(.2, .2, .2));
// 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(0.1); psb->getCollisionShape()->setMargin(0.02);
psb->setTotalMass(1); psb->setTotalMass(.1);
psb->setSpringStiffness(0); psb->setSpringStiffness(0);
psb->setDampingCoefficient(.1); psb->setDampingCoefficient(.01);
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 = 2; psb->m_cfg.kDF = 50;
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()); getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(5,5)); getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(6,6));
} }
// // create a piece of cloth // // create a piece of cloth
@@ -395,15 +395,15 @@ void GraspDeformable::initPhysics()
{ {
SliderParams slider("Moving velocity", &sGripperVerticalVelocity); SliderParams slider("Moving velocity", &sGripperVerticalVelocity);
slider.m_minVal = -2; slider.m_minVal = -.2;
slider.m_maxVal = 2; slider.m_maxVal = .2;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
} }
{ {
SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity); SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
slider.m_minVal = -1; slider.m_minVal = -.1;
slider.m_maxVal = 1; slider.m_maxVal = .1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
} }

2
examples/ExampleBrowser/CMakeLists.txt
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@@ -359,6 +359,8 @@ SET(BulletExampleBrowser_SRCS
../MultiBody/MultiBodyConstraintFeedback.cpp ../MultiBody/MultiBodyConstraintFeedback.cpp
../SoftDemo/SoftDemo.cpp ../SoftDemo/SoftDemo.cpp
../SoftDemo/SoftDemo.h ../SoftDemo/SoftDemo.h
../DeformableDemo/GraspDeformable.cpp
../DeformableDemo/GraspDeformable.h
../DeformableDemo/Pinch.cpp ../DeformableDemo/Pinch.cpp
../DeformableDemo/Pinch.h ../DeformableDemo/Pinch.h
../DeformableDemo/DeformableMultibody.cpp ../DeformableDemo/DeformableMultibody.cpp