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update examples to test different time stepping schemes (namely explicit, implicit and implicit with line search)/

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This commit is contained in:
Xuchen Han
2019-09-19 17:09:52 -07:00
parent 2f9184acc9
commit be7383cc03
6 changed files with 29 additions and 26 deletions
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13
examples/DeformableDemo/DeformableContact.cpp
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@@ -26,6 +26,7 @@
#include "../Utils/b3ResourcePath.h" #include "../Utils/b3ResourcePath.h"
///The DeformableContact shows the contact between deformable objects ///The DeformableContact shows the contact between deformable objects
class DeformableContact : public CommonRigidBodyBase class DeformableContact : public CommonRigidBodyBase
{ {
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces; btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
@@ -149,12 +150,12 @@ void DeformableContact::initPhysics()
20,20, 20,20,
1 + 2 + 4 + 8, true); 1 + 2 + 4 + 8, true);
psb->getCollisionShape()->setMargin(0.05); psb->getCollisionShape()->setMargin(0.1);
psb->generateBendingConstraints(2); psb->generateBendingConstraints(2);
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 = 1; psb->m_cfg.kDF = 0;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb); getDeformableDynamicsWorld()->addSoftBody(psb);
@@ -176,15 +177,15 @@ void DeformableContact::initPhysics()
btVector3(+s, h, +s), btVector3(+s, h, +s),
10,10, 10,10,
0, true); 0, true);
psb2->getCollisionShape()->setMargin(0.05); psb2->getCollisionShape()->setMargin(0.1);
psb2->generateBendingConstraints(2); psb2->generateBendingConstraints(2);
psb2->setTotalMass(1); psb2->setTotalMass(1);
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
psb2->m_cfg.kDF = 1; psb2->m_cfg.kDF = .1;
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
psb->translate(btVector3(3,0,0)); psb->translate(btVector3(3.5,0,0));
getDeformableDynamicsWorld()->addSoftBody(psb2); getDeformableDynamicsWorld()->addSoftBody(psb2);
btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,1, true); btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,1, true);
@@ -195,6 +196,8 @@ void DeformableContact::initPhysics()
getDeformableDynamicsWorld()->addForce(psb2, gravity_force2); getDeformableDynamicsWorld()->addForce(psb2, gravity_force2);
m_forces.push_back(gravity_force2); m_forces.push_back(gravity_force2);
} }
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
} }

36
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -221,7 +221,7 @@ void DeformableMultibody::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force); getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force); m_forces.push_back(gravity_force);
} }
getDeformableDynamicsWorld()->setImplicit(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
} }
@@ -346,26 +346,23 @@ void DeformableMultibody::addColliders_testMultiDof(btMultiBody* pMultiBody, btM
local_origin[0] = pMultiBody->getBasePos(); local_origin[0] = pMultiBody->getBasePos();
{ {
// float pos[4]={local_origin[0].x(),local_origin[0].y(),local_origin[0].z(),1};
btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()}; btScalar quat[4] = {-world_to_local[0].x(), -world_to_local[0].y(), -world_to_local[0].z(), world_to_local[0].w()};
if (1) btCollisionShape* box = new btBoxShape(baseHalfExtents);
{ btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
btCollisionShape* box = new btBoxShape(baseHalfExtents); col->setCollisionShape(box);
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
col->setCollisionShape(box); btTransform tr;
tr.setIdentity();
btTransform tr; tr.setOrigin(local_origin[0]);
tr.setIdentity(); tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
tr.setOrigin(local_origin[0]); col->setWorldTransform(tr);
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
col->setWorldTransform(tr); pWorld->addCollisionObject(col, 2, 1 + 2);
pWorld->addCollisionObject(col, 2, 1 + 2); col->setFriction(friction);
pMultiBody->setBaseCollider(col);
col->setFriction(friction);
pMultiBody->setBaseCollider(col);
}
} }
for (int i = 0; i < pMultiBody->getNumLinks(); ++i) for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
@@ -378,7 +375,6 @@ void DeformableMultibody::addColliders_testMultiDof(btMultiBody* pMultiBody, btM
for (int i = 0; i < pMultiBody->getNumLinks(); ++i) for (int i = 0; i < pMultiBody->getNumLinks(); ++i)
{ {
btVector3 posr = local_origin[i + 1]; btVector3 posr = local_origin[i + 1];
// float pos[4]={posr.x(),posr.y(),posr.z(),1};
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()}; btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};

2
examples/DeformableDemo/DeformableRigid.cpp
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@@ -231,6 +231,8 @@ void DeformableRigid::initPhysics()
// add a few rigid bodies // add a few rigid bodies
Ctor_RbUpStack(1); Ctor_RbUpStack(1);
} }
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
} }

1
examples/DeformableDemo/Pinch.cpp
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@@ -329,6 +329,7 @@ void Pinch::initPhysics()
// add a grippers // add a grippers
createGrip(); createGrip();
} }
getDeformableDynamicsWorld()->setImplicit(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld); m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
} }

1
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -196,6 +196,7 @@ void VolumetricDeformable::initPhysics()
//add the ground to the dynamics world //add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body); m_dynamicsWorld->addRigidBody(body);
} }
getDeformableDynamicsWorld()->setLineSearch(false);
createStaticBox(btVector3(1, 5, 5), btVector3(-5,0,0)); createStaticBox(btVector3(1, 5, 5), btVector3(-5,0,0));
createStaticBox(btVector3(1, 5, 5), btVector3(5,0,0)); createStaticBox(btVector3(1, 5, 5), btVector3(5,0,0));

2
src/BulletSoftBody/btDeformableBodySolver.cpp
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@@ -24,7 +24,7 @@ btDeformableBodySolver::btDeformableBodySolver()
, m_cg(20) , m_cg(20)
, m_maxNewtonIterations(3) , m_maxNewtonIterations(3)
, m_newtonTolerance(1e-4) , m_newtonTolerance(1e-4)
, m_lineSearch(false) , m_lineSearch(true)
{ {
m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity); m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity);
} }