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

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Xuchen Han
2019-08-15 17:48:36 -07:00
parent aa4d5bda3e
commit c9ab033a8b
5 changed files with 14 additions and 24 deletions
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8
examples/DeformableDemo/Pinch.cpp
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@@ -331,18 +331,12 @@ void Pinch::initPhysics()
psb->translate(btVector3(0, 4, 0));
psb->getCollisionShape()->setMargin(0.1);
psb->setTotalMass(1);
// psb->scale(btVector3(5, 5, 5));
// psb->translate(btVector3(-2.5, 4, -2.5));
// psb->getCollisionShape()->setMargin(0.1);
// psb->setTotalMass(1);
psb->setSpringStiffness(2);
psb->setDampingCoefficient(0.02);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.02));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// add a grippers
createGrip();