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fix bug in computing rhs in momentum solve

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This commit is contained in:
Xuchen Han
2019-10-05 17:42:37 -07:00
parent 0cb7cb2445
commit c610ba49df
9 changed files with 50 additions and 47 deletions
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2
examples/DeformableDemo/DeformableContact.cpp
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@@ -196,7 +196,7 @@ void DeformableContact::initPhysics()
getDeformableDynamicsWorld()->addForce(psb2, gravity_force2);
m_forces.push_back(gravity_force2);
}
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

2
examples/DeformableDemo/DeformableRigid.cpp
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@@ -231,7 +231,7 @@ void DeformableRigid::initPhysics()
// add a few rigid bodies
Ctor_RbUpStack(1);
}
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

2
examples/DeformableDemo/DeformableSelfCollision.cpp
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@@ -175,7 +175,7 @@ void DeformableSelfCollision::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
}
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

75
examples/DeformableDemo/GraspDeformable.cpp
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@@ -269,6 +269,7 @@ void GraspDeformable::initPhysics()
}
// create a soft block
if(0)
{
char relative_path[1024];
// b3FileUtils::findFile("banana.vtk", relative_path, 1024);
@@ -291,7 +292,7 @@ void GraspDeformable::initPhysics()
// 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(.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);
@@ -306,44 +307,46 @@ void GraspDeformable::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(10,20, 0.01);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(100,200, 0.05);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
}
// // create a piece of cloth
// {
// 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),
// 20,20,
// 0, true);
//
// if (onGround)
// psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
// btVector3(+s, 0, -s),
// btVector3(-s, 0, +s),
// btVector3(+s, 0, +s),
// // 20,20,
// 2,2,
// 0, true);
//
// psb->getCollisionShape()->setMargin(0.02);
// psb->generateBendingConstraints(2);
// psb->setTotalMass(.01);
// psb->setSpringStiffness(5);
// psb->setDampingCoefficient(0.05);
// psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
// psb->m_cfg.kCHR = 1; // collision hardness with rigid body
// psb->m_cfg.kDF = 1;
// psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
// getDeformableDynamicsWorld()->addSoftBody(psb);
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.2,0.02, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// }
getDeformableDynamicsWorld()->setImplicit(false);
// create a piece of cloth
{
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),
20,20,
0, true);
if (onGround)
psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
btVector3(+s, 0, -s),
btVector3(-s, 0, +s),
btVector3(+s, 0, +s),
// 20,20,
2,2,
0, true);
psb->getCollisionShape()->setMargin(0.005);
psb->generateBendingConstraints(2);
psb->setTotalMass(.01);
psb->setSpringStiffness(5);
psb->setDampingCoefficient(0.05);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 1;
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 btDeformableGravityForce(gravity));
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);

2
examples/DeformableDemo/PinchFriction.cpp
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@@ -350,7 +350,7 @@ void PinchFriction::initPhysics()
getDeformableDynamicsWorld()->addForce(psb3, neohookean);
m_forces.push_back(neohookean);
}
getDeformableDynamicsWorld()->setImplicit(false);
// add a pair of grippers
createGrip();
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);

2
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -228,7 +228,7 @@ void VolumetricDeformable::initPhysics()
m_forces.push_back(neohookean);
}
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
// add a few rigid bodies
Ctor_RbUpStack(4);