Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

check in a good set of parameters for grasping deformable ball with nonlinear damping force (not as stable as linear damping)

Browse Source
This commit is contained in:
Xuchen Han
2019-08-15 17:48:36 -07:00
parent aa4d5bda3e
commit c9ab033a8b
5 changed files with 14 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
examples/DeformableDemo/GraspDeformable.cpp
View File

@@ -339,20 +339,24 @@ void GraspDeformable::initPhysics()
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), path);
// psb->scale(btVector3(30, 30, 30)); // for banana
// psb->scale(btVector3(.2, .2, .2));
psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
psb->scale(btVector3(.25, .25, .25));
// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
// psb->scale(btVector3(1, 1, 1)); // for ditto
// psb->translate(btVector3(0, 0, 2)); for boot
psb->getCollisionShape()->setMargin(0.02);
psb->setTotalMass(.1);
psb->setSpringStiffness(0);
psb->setDampingCoefficient(.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 = 50;
psb->m_cfg.kDF = 10;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
// nonlinear damping
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.04, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6));
// linear damping
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.01, false));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(6,6));
}