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add very basic multibody vehicle

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tweak finite element experiment with parameter
This commit is contained in:
Erwin Coumans
2014-10-31 14:14:45 -07:00
parent 91bcb055db
commit eac8b32782
9 changed files with 486 additions and 348 deletions
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79
Demos3/FiniteElementMethod/FiniteElementDemo.cpp
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@@ -26,6 +26,7 @@ subject to the following restrictions:
#include <OpenTissue/dynamics/fem/fem.h>
#include <OpenTissue/core/containers/t4mesh/util/t4mesh_block_generator.h>
#include "LinearMath/btAlignedObjectArray.h"
#include "Bullet3AppSupport/CommonParameterInterface.h"
//typedef OpenTissue::math::BasicMathTypes<float,size_t> math_types;
typedef OpenTissue::math::BasicMathTypes<double,size_t> math_types;
@@ -34,7 +35,7 @@ typedef math_types::vector3_type vector3_type;
typedef math_types::real_type real_type;
static int fixedNodes = 1;
struct FiniteElementDemoInternalData
{
@@ -48,8 +49,8 @@ struct FiniteElementDemoInternalData
real_type m_gravity;
real_type m_young;// = 500000;
real_type m_poisson;// = 0.33;
btScalar m_young;// = 500000;
btScalar m_poisson;// = 0.33;
real_type m_density;// = 1000;
//--- infinite m_c_yield plasticity settings means that plasticity is turned off
@@ -62,7 +63,8 @@ struct FiniteElementDemoInternalData
{
m_stiffness_warp_on= true;
m_collideGroundPlane = true;
m_fixNodes = true;
m_fixNodes = fixedNodes==1;
fixedNodes=1-fixedNodes;
m_gravity = 9.81;
m_young = 500000;//47863;//100000;
m_poisson = 0.33;
@@ -100,13 +102,37 @@ void FiniteElementDemo::initPhysics()
for (int n=0;n<m_data->m_mesh1.m_nodes.size();n++)
{
m_data->m_mesh1.m_nodes[n].m_coord(1)+=0.1f;
m_data->m_mesh1.m_nodes[n].m_coord(m_app->getUpAxis())+=.5f;
m_data->m_mesh1.m_nodes[n].m_model_coord = m_data->m_mesh1.m_nodes[n].m_coord;
}
OpenTissue::fem::init(m_data->m_mesh1,m_data->m_young,m_data->m_poisson,m_data->m_density,m_data->m_c_yield,m_data->m_c_creep,m_data->m_c_max);
OpenTissue::fem::init(m_data->m_mesh1,double(m_data->m_young),double(m_data->m_poisson),m_data->m_density,m_data->m_c_yield,m_data->m_c_creep,m_data->m_c_max);
}
{
SliderParams slider("Young",&m_data->m_young);
// slider.m_showValues = false;
slider.m_minVal=50000;
slider.m_maxVal=1000000;
m_app->m_parameterInterface->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Poisson",&m_data->m_poisson);
// slider.m_showValues = false;
slider.m_minVal=0.01;
slider.m_maxVal=0.49;
m_app->m_parameterInterface->registerSliderFloatParameter(slider);
}
}
void FiniteElementDemo::exitPhysics()
{
@@ -118,7 +144,10 @@ void FiniteElementDemo::stepSimulation(float deltaTime)
m_y+=0.01f;
m_z+=0.01f;
double dt = 1./60.;//double (deltaTime);
//normal gravity
double poisson =m_data->m_poisson;
OpenTissue::fem::init(m_data->m_mesh1,double(m_data->m_young),poisson,m_data->m_density,m_data->m_c_yield,m_data->m_c_creep,m_data->m_c_max);
for (int n=0;n<m_data->m_mesh1.m_nodes.size();n++)
{
@@ -136,9 +165,39 @@ void FiniteElementDemo::stepSimulation(float deltaTime)
m_data->m_mesh1.m_nodes[n].m_fixed = false;
}
}
vector3_type gravity = vector3_type(0.0, 0.0 , 0.0);
gravity(m_app->getUpAxis()) = -(m_data->m_mesh1.m_nodes[n].m_mass * m_data->m_gravity);
m_data->m_mesh1.m_nodes[n].m_f_external =gravity;
if (m_data->m_collideGroundPlane && m_data->m_mesh1.m_nodes[n].m_coord(m_app->getUpAxis())<0.f)
{
float depth = -m_data->m_mesh1.m_nodes[n].m_coord(m_app->getUpAxis());
if (depth>0.1)
depth=0.1;
m_data->m_mesh1.m_nodes[n].m_f_external(m_app->getUpAxis()) = depth*1000;
if (m_data->m_mesh1.m_nodes[n].m_velocity(m_app->getUpAxis()) < 0.f)
{
m_data->m_mesh1.m_nodes[n].m_velocity(m_app->getUpAxis())=0.f;
}
int frictionAxisA=0;
int frictionAxisB=2;
if (m_app->getUpAxis()==1)
{
frictionAxisA=0;
frictionAxisB=2;
} else
{
frictionAxisA=0;
frictionAxisB=1;
}
m_data->m_mesh1.m_nodes[n].m_velocity(frictionAxisA)=0.f;
m_data->m_mesh1.m_nodes[n].m_velocity(frictionAxisB)=0.f;
} else
{
vector3_type gravity = vector3_type(0.0, 0.0 , 0.0);
gravity(m_app->getUpAxis()) = -(m_data->m_mesh1.m_nodes[n].m_mass * m_data->m_gravity);
m_data->m_mesh1.m_nodes[n].m_f_external =gravity;
}
//m_data->m_mesh1.m_nodes[n].m_velocity.clear();
}