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configure damping coefficients for neohookean models

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This commit is contained in:
Xuchen Han
2019-10-04 11:00:22 -07:00
committed by Xuchen Han
parent 837e333ab2
commit ec91a0ffa4
4 changed files with 8 additions and 5 deletions
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3
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -348,12 +348,13 @@ B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle co
return 0; return 0;
} }
B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda) B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_NeoHookeanMu = NeoHookeanMu; command->m_loadSoftBodyArguments.m_NeoHookeanMu = NeoHookeanMu;
command->m_loadSoftBodyArguments.m_NeoHookeanLambda = NeoHookeanLambda; command->m_loadSoftBodyArguments.m_NeoHookeanLambda = NeoHookeanLambda;
command->m_loadSoftBodyArguments.m_NeoHookeanDamping = NeoHookeanDamping;
command->m_updateFlags |= LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE; command->m_updateFlags |= LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE;
return 0; return 0;
} }

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -632,7 +632,7 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ); B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda); B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping = 0);
B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness); B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);
B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ); B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness); B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);

7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8019,7 +8019,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
const std::string& error_message_prefix = ""; const std::string& error_message_prefix = "";
std::string out_found_filename; std::string out_found_filename;
std::string out_found_sim_filename; std::string out_found_sim_filename;
int out_type, out_sim_type; int out_type(0), out_sim_type(0);
bool render_mesh_is_sim_mesh = true; bool render_mesh_is_sim_mesh = true;
@@ -8081,12 +8081,13 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda; corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda)); m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda));
} }
btScalar neohookean_mu, neohookean_lambda; btScalar neohookean_mu, neohookean_lambda, neohookean_damping;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE) if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE)
{ {
neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu; neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu;
neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda)); neohookean_damping = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanDamping;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping));
} }
btScalar spring_elastic_stiffness, spring_damping_stiffness; btScalar spring_elastic_stiffness, spring_damping_stiffness;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE) if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -528,6 +528,7 @@ struct LoadSoftBodyArgs
double m_frictionCoeff; double m_frictionCoeff;
double m_NeoHookeanMu; double m_NeoHookeanMu;
double m_NeoHookeanLambda; double m_NeoHookeanLambda;
double m_NeoHookeanDamping;
}; };
struct b3LoadSoftBodyResultArgs struct b3LoadSoftBodyResultArgs