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Code Issues Releases Wiki Activity

fix bug in multibody point contact with deformable

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This commit is contained in:
Chuyuan Fu 2020-08-06 20:54:15 -07:00
parent b8fd4a1060
commit 086638d16e
3 changed files with 28 additions and 6 deletions
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25
examples/DeformableDemo/GraspDeformable.cpp
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@ -205,9 +205,9 @@ void GraspDeformable::initPhysics()
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 150;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_maxPickingForce = 0.001;
m_maxPickingForce =100;
// build a gripper
if(1)
if(0)
{
bool damping = true;
bool gyro = false;
@ -257,9 +257,10 @@ void GraspDeformable::initPhysics()
}
//create a ground
if(0)
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(10.)));
groundShape->setMargin(0.003);
groundShape->setMargin(0.001);
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
@ -285,6 +286,22 @@ void GraspDeformable::initPhysics()
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body,1,1+2);
}
if(1)
{
bool gyro = false;
bool canSleep = false;
bool selfCollide = true;
btVector3 linkHalfExtents(10, 5, 10);
btVector3 baseHalfExtents(10, 5, 10);
btVector3 basepos(0, -5, 0);
btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), basepos, linkHalfExtents, baseHalfExtents, false);
mbC->setCanSleep(canSleep);
mbC->setHasSelfCollision(selfCollide);
mbC->setUseGyroTerm(gyro);
addColliders(mbC, getDeformableDynamicsWorld(), baseHalfExtents, linkHalfExtents);
}
// create a soft block
if (0)
@ -453,7 +470,7 @@ void GraspDeformable::initPhysics()
}
// psb->scale(btVector3(1, 1, 1));
psb->rotate(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.5));
// psb->translate(tr);
psb->translate(btVector3(0,1,0));
psb->getCollisionShape()->setMargin(0.005);
psb->getCollisionShape()->setUserPointer(psb);

7
src/BulletSoftBody/btDeformableContactProjection.cpp
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@ -494,6 +494,9 @@ void btDeformableContactProjection::setLagrangeMultiplier()
lm.m_dirs[2] = btVector3(0, 0, 1);
m_lagrangeMultipliers.push_back(lm);
}
if( m_faceRigidConstraints[i].size()==0){
for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
{
if (!m_nodeRigidConstraints[i][j].m_binding)
@ -519,7 +522,9 @@ void btDeformableContactProjection::setLagrangeMultiplier()
lm.m_dirs[0] = m_nodeRigidConstraints[i][j].m_normal;
}
m_lagrangeMultipliers.push_back(lm);
}
}
}
for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
{
if (!m_faceRigidConstraints[i][j].m_binding)

2
src/BulletSoftBody/btSoftBodyInternals.h
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@ -1686,6 +1686,7 @@ struct btSoftColliders
c.m_c2 = ima;
c.m_c3 = fc;
c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR;
c.m_c5 = n.m_effectiveMass_inv;
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
@ -1695,7 +1696,6 @@ struct btSoftColliders
const btVector3 ra = n.m_x - wtr.getOrigin();
c.m_c0 = ImpulseMatrix(1, n.m_effectiveMass_inv, imb, iwi, ra);
c.m_c5 = n.m_effectiveMass_inv;
// c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
c.m_c1 = ra;
}