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Code Issues Releases Wiki Activity

add reduced deformable torus. minor clean up in btReducedSoftBodyHelpers

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This commit is contained in:
jingyuc 2021-11-17 01:09:18 -05:00
parent 8c118515b8
commit 0279a5a500
11 changed files with 9960 additions and 80 deletions
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data/reduced_torus/K_r_diag_mat.bin Normal file
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data/reduced_torus/M_diag_mat.bin Normal file
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data/reduced_torus/M_r_diag_mat.bin Normal file
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data/reduced_torus/eigenvalues.bin Normal file
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14
data/reduced_torus/reduced_torus.urdf Normal file
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@ -0,0 +1,14 @@
<?xml version="1.0"?>
<robot name="reduced_cube">
<reduced_deformable name="reduced_cube">
<num_modes value="20"/>
<mass value="10"/>
<stiffness_scale value="10"/>
<collision_margin value="0.01"/>
<erp value= "0.2"/>
<cfm value= "0.2"/>
<friction value= "0.5"/>
<damping_coefficient value="0.00001"/>
<visual filename="torus_mesh.vtk"/>
</reduced_deformable>
</robot>

9917
data/reduced_torus/torus_mesh.vtk Normal file
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82
examples/ReducedDeformableDemo/FreeFall.cpp
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@ -30,7 +30,7 @@
// static btScalar E = 50;
// static btScalar nu = 0.3;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.00001;
static btScalar damping_beta = 0.0001;
static btScalar COLLIDING_VELOCITY = 0;
static int num_modes = 20;
@ -55,8 +55,8 @@ public:
void resetCamera()
{
float dist = 10;
float pitch = -20;
float dist = 6;
float pitch = -10;
float yaw = 90;
float targetPos[3] = {0, 2, 0};
// float dist = 20;
@ -77,7 +77,7 @@ public:
// btRigidBody* rb0 = createRigidBody(mass, startTransform, shape);
// rb0->setLinearVelocity(btVector3(0, 0, 0));
startTransform.setOrigin(btVector3(0,4,0));
startTransform.setOrigin(btVector3(0,10,0));
// startTransform.setRotation(btQuaternion(btVector3(1, 0, 1), SIMD_PI / 4.0));
btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
rb1->setActivationState(DISABLE_DEACTIVATION);
@ -146,7 +146,7 @@ void FreeFall::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedTorus(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);
@ -154,11 +154,11 @@ void FreeFall::initPhysics()
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 10, 0));
// init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
init_transform.setOrigin(btVector3(0, 4, 0));
init_transform.setRotation(btQuaternion(SIMD_PI / 2.0, SIMD_PI / 2.0, 0));
rsb->transformTo(init_transform);
rsb->setStiffnessScale(100);
rsb->setStiffnessScale(5);
rsb->setDamping(damping_alpha, damping_beta);
rsb->setTotalMass(10);
@ -176,7 +176,7 @@ void FreeFall::initPhysics()
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
}
// add a few rigid bodies
// Ctor_RbUpStack();
Ctor_RbUpStack();
// create a static rigid box as the ground
{
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
@ -195,70 +195,6 @@ void FreeFall::initPhysics()
createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
}
}
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(2), btScalar(0.5), btScalar(1)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(0, 2, 3.1));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(2), btScalar(0.5), btScalar(1)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(0, 2, -3.1));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(1), btScalar(0.5), btScalar(2)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(2, 2, 0));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
// {
// // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(1), btScalar(0.5), btScalar(2)));
// m_collisionShapes.push_back(groundShape);
// btTransform groundTransform;
// groundTransform.setIdentity();
// // groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
// groundTransform.setOrigin(btVector3(-2, 2, 0));
// // groundTransform.setOrigin(btVector3(0, 0, 6));
// // groundTransform.setOrigin(btVector3(0, -50, 0));
// {
// btScalar mass(0.);
// createRigidBody(mass, groundTransform, groundShape, btVector4(0,0,0,0));
// }
// }
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);

3
examples/RobotSimulator/RobotSimulatorMain.cpp
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@ -54,7 +54,8 @@ int main(int argc, char* argv[])
sim->loadURDF("plane.urdf");
{
int deformableUID = sim->loadURDF("reduced_cube/reduced_cube.urdf");
// int deformableUID = sim->loadURDF("reduced_cube/reduced_cube.urdf");
int deformableUID = sim->loadURDF("reduced_torus/reduced_torus.urdf");
// int deformableUID = sim->loadURDF("torus_deform.urdf");
btVector3 basePosition = btVector3(0, 0, 2);
btQuaternion baseOrientation = btQuaternion(0, 0, 0, 1);

20
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.cpp
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@ -11,8 +11,7 @@ btReducedSoftBody* btReducedSoftBodyHelpers::createReducedBeam(btSoftBodyWorldIn
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
rsb->setReducedModes(num_modes, rsb->m_nodes.size());
btVector3 half_extents(0.5, 0.25, 2);
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str(), half_extents);
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
return rsb;
}
@ -24,8 +23,19 @@ btReducedSoftBody* btReducedSoftBodyHelpers::createReducedCube(btSoftBodyWorldIn
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
rsb->setReducedModes(num_modes, rsb->m_nodes.size());
btVector3 half_extents(0.5, 0.5, 0.5);
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str(), half_extents);
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
return rsb;
}
btReducedSoftBody* btReducedSoftBodyHelpers::createReducedTorus(btSoftBodyWorldInfo& worldInfo, const int num_modes)
{
std::string filepath("../../../data/reduced_torus/");
std::string filename = filepath + "torus_mesh.vtk";
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
rsb->setReducedModes(num_modes, rsb->m_nodes.size());
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str());
return rsb;
}
@ -138,7 +148,7 @@ btReducedSoftBody* btReducedSoftBodyHelpers::createFromVtkFile(btSoftBodyWorldIn
return rsb;
}
void btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(btReducedSoftBody* rsb, const char* file_path, const btVector3& half_extents)
void btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(btReducedSoftBody* rsb, const char* file_path)
{
// read in eigenmodes, stiffness and mass matrices
std::string eigenvalues_file = std::string(file_path) + "eigenvalues.bin";

4
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h
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@ -9,11 +9,13 @@ struct btReducedSoftBodyHelpers
static btReducedSoftBody* createReducedBeam(btSoftBodyWorldInfo& worldInfo, const int num_modes);
// create a cube
static btReducedSoftBody* createReducedCube(btSoftBodyWorldInfo& worldInfo, const int num_modes);
// create a torus
static btReducedSoftBody* createReducedTorus(btSoftBodyWorldInfo& worldInfo, const int num_modes);
// read in geometry info from Vtk file
static btReducedSoftBody* createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file);
// read in all reduced files
static void readReducedDeformableInfoFromFiles(btReducedSoftBody* rsb, const char* file_path, const btVector3& half_extents = btVector3(0, 0, 0));
static void readReducedDeformableInfoFromFiles(btReducedSoftBody* rsb, const char* file_path);
// read in a binary vector
static void readBinaryVec(btReducedSoftBody::tDenseArray& vec, const unsigned int n_size, const char* file);
// read in a binary matrix