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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2019-11-29 08:06:53 -08:00
parent 56d0b7a09a 7546541c85
commit cf67e7af0a
10 changed files with 264 additions and 154 deletions
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28
examples/DeformableDemo/PinchFriction.cpp
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@@ -93,16 +93,6 @@ public:
virtual void renderScene()
{
CommonRigidBodyBase::renderScene();
// btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
//
// for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
// {
// btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
// {
// btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
// btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
// }
// }
}
};
@@ -115,8 +105,8 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
btScalar pressTime = 0.45;
btScalar liftTime = 5;
btScalar shiftTime = 1.75;
btScalar holdTime = 4.5*1000;
btScalar dropTime = 5.3*1000;
btScalar holdTime = 7.5;
btScalar dropTime = 8.3;
btTransform rbTransform;
rbTransform.setIdentity();
btVector3 translation;
@@ -259,7 +249,7 @@ void PinchFriction::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(0);
body->setFriction(0.5);
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body);
@@ -275,11 +265,11 @@ void PinchFriction::initPhysics()
psb->scale(btVector3(2, 2, 1));
psb->translate(btVector3(0, 2.1, 2.2));
psb->getCollisionShape()->setMargin(0.1);
psb->getCollisionShape()->setMargin(0.05);
psb->setTotalMass(.6);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 20;
psb->m_cfg.kDF = 2;
btSoftBodyHelpers::generateBoundaryFaces(psb);
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
@@ -304,11 +294,11 @@ void PinchFriction::initPhysics()
psb2->scale(btVector3(2, 2, 1));
psb2->translate(btVector3(0, 2.1, -2.2));
psb2->getCollisionShape()->setMargin(0.1);
psb2->getCollisionShape()->setMargin(0.05);
psb2->setTotalMass(.6);
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
psb2->m_cfg.kDF = 20;
psb2->m_cfg.kDF = 2;
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
btSoftBodyHelpers::generateBoundaryFaces(psb2);
@@ -333,11 +323,11 @@ void PinchFriction::initPhysics()
psb3->scale(btVector3(2, 2, 1));
psb3->translate(btVector3(0, 2.1, 0));
psb3->getCollisionShape()->setMargin(0.1);
psb3->getCollisionShape()->setMargin(0.05);
psb3->setTotalMass(.6);
psb3->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb3->m_cfg.kCHR = 1; // collision hardness with rigid body
psb3->m_cfg.kDF = 20;
psb3->m_cfg.kDF = 2;
psb3->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb3->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
btSoftBodyHelpers::generateBoundaryFaces(psb3);

1
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1642,7 +1642,6 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<btDeformableLagrangianForce*> m_lf;
#endif
btMultiBodyDynamicsWorld* m_dynamicsWorld;
int m_constraintSolverType;

1
examples/pybullet/examples/deformable_ball.py
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@@ -13,6 +13,7 @@ planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
ballId = p.loadSoftBody("ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 0.1, useNeoHookean = 1, NeoHookeanMu = 20, NeoHookeanLambda = 20, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5)
p.setTimeStep(0.001)
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(1)