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

add options to toggle between whether line search is used & add more documentation

Browse Source
This commit is contained in:
Xuchen Han
2019-09-19 16:56:55 -07:00
parent 0501fe1bbd
commit ef5aa6e73b
12 changed files with 47 additions and 95 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
examples/DeformableDemo/ClothFriction.cpp
View File

@@ -25,9 +25,7 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The ClothFriction shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The ClothFriction shows the use of deformable friction.
class ClothFriction : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;
@@ -197,6 +195,7 @@ void ClothFriction::initPhysics()
getDeformableDynamicsWorld()->addForce(psb2, gravity_force2);
m_forces.push_back(gravity_force2);
}
getDeformableDynamicsWorld()->setImplicit(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

4
examples/DeformableDemo/DeformableContact.cpp
View File

@@ -25,9 +25,7 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The DeformableContact shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The DeformableContact shows the contact between deformable objects
class DeformableContact : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;

14
examples/DeformableDemo/DeformableMultibody.cpp
View File

@@ -11,20 +11,6 @@
3. This notice may not be removed or altered from any source distribution.
*/
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
///scaling of the objects (0.1 = 20 centimeter boxes )
#define SCALING 1.
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3
#include "DeformableMultibody.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"

19
examples/DeformableDemo/DeformableRigid.cpp
View File

@@ -10,21 +10,6 @@
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
///scaling of the objects (0.1 = 20 centimeter boxes )
#define SCALING 1.
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3
#include "DeformableRigid.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
@@ -39,9 +24,7 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The DeformableRigid shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The DeformableRigid shows contact between deformable objects and rigid objects.
class DeformableRigid : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;

4
examples/DeformableDemo/GraspDeformable.cpp
View File

@@ -34,9 +34,7 @@
#include "../CommonInterfaces/CommonFileIOInterface.h"
#include "Bullet3Common/b3FileUtils.h"
///The GraspDeformable shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The GraspDeformable shows grasping a volumetric deformable objects with multibody gripper with moter constraints.
static btScalar sGripperVerticalVelocity = 0.f;
static btScalar sGripperClosingTargetVelocity = 0.f;
static float friction = 1.;

24
examples/DeformableDemo/Pinch.cpp
View File

@@ -11,20 +11,6 @@
3. This notice may not be removed or altered from any source distribution.
*/
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
///scaling of the objects (0.1 = 20 centimeter boxes )
#define SCALING 1.
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3
#include "Pinch.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
@@ -39,21 +25,13 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The Pinch shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The Pinch shows the frictional contact between kinematic rigid objects with deformable objects
struct TetraCube
{
#include "../SoftDemo/cube.inl"
};
struct TetraBunny
{
#include "../SoftDemo/bunny.inl"
};
class Pinch : public CommonRigidBodyBase
{
btAlignedObjectArray<btDeformableLagrangianForce*> m_forces;

4
examples/DeformableDemo/PinchFriction.cpp
View File

@@ -24,9 +24,7 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The PinchFriction shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The PinchFriction shows the frictional contacts among volumetric deformable objects
struct TetraCube
{

19
examples/DeformableDemo/VolumetricDeformable.cpp
View File

@@ -11,20 +11,6 @@
3. This notice may not be removed or altered from any source distribution.
*/
///create 125 (5x5x5) dynamic object
#define ARRAY_SIZE_X 5
#define ARRAY_SIZE_Y 5
#define ARRAY_SIZE_Z 5
//maximum number of objects (and allow user to shoot additional boxes)
#define MAX_PROXIES (ARRAY_SIZE_X * ARRAY_SIZE_Y * ARRAY_SIZE_Z + 1024)
///scaling of the objects (0.1 = 20 centimeter boxes )
#define SCALING 1.
#define START_POS_X -5
#define START_POS_Y -5
#define START_POS_Z -3
#include "VolumetricDeformable.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
@@ -39,10 +25,7 @@
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "../Utils/b3ResourcePath.h"
///The VolumetricDeformable shows the use of rolling friction.
///Spheres will come to a rest on a sloped plane using a constraint. Damping cannot achieve the same.
///Generally it is best to leave the rolling friction coefficient zero (or close to zero).
///The VolumetricDeformable shows the contact between volumetric deformable objects and rigid objects.
struct TetraCube
{