From 237333d03059694d52cec3a6f7c4098ff89ddc54 Mon Sep 17 00:00:00 2001 From: jingyuc Date: Mon, 19 Jul 2021 15:26:00 -0400 Subject: [PATCH] make the impulse scaled with nodal mass. all binary mode files contains all modes info. --- examples/ReducedDeformableDemo/BasicTest.cpp | 14 +++++++------- examples/SoftDemo/K_r_diag_mat.bin | Bin 676 -> 676 bytes examples/SoftDemo/M_r_diag_mat.bin | Bin 676 -> 676 bytes examples/SoftDemo/eigenvalues.bin | Bin 676 -> 676 bytes examples/SoftDemo/modes.bin | Bin 56452 -> 56452 bytes .../btDeformableBackwardEulerObjective.cpp | 11 ++++------- 6 files changed, 11 insertions(+), 14 deletions(-) diff --git a/examples/ReducedDeformableDemo/BasicTest.cpp b/examples/ReducedDeformableDemo/BasicTest.cpp index ece6dfa23..ae2a81bc0 100644 --- a/examples/ReducedDeformableDemo/BasicTest.cpp +++ b/examples/ReducedDeformableDemo/BasicTest.cpp @@ -223,13 +223,6 @@ void BasicTest::initPhysics() for (int k = 0; k < 3; ++k) psb->m_x0[3 * i + k] = psb->m_nodes[i].m_x[k]; - std::ofstream outfile1("before_map.txt"); - for (int i = 0; i < psb->m_nodes.size(); ++i) { - for (int k = 0; k < 3; ++k) - outfile1 << psb->m_nodes[i].m_x[k] << '\n'; - } - outfile1.close(); - getDeformableDynamicsWorld()->addSoftBody(psb); psb->scale(btVector3(2, 2, 2)); psb->translate(btVector3(0, 7, 0)); @@ -242,6 +235,13 @@ void BasicTest::initPhysics() psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN; psb->m_sleepingThreshold = 0; btSoftBodyHelpers::generateBoundaryFaces(psb); + + std::string M_file("../../../examples/SoftDemo/M_diag_mat.bin"); + btAlignedObjectArray mass_array; + btSoftBodyHelpers::readBinary(mass_array, 0, 3 * m_nFull, 3 * m_nFull, M_file.c_str()); + // assign mass to nodes + for (int i = 0; i < psb->m_nodes.size(); ++i) + psb->m_nodes[i].m_im = mass_array[3 * i]; // here we use m_im as the actual mass not the mass inverse psb->setVelocity(btVector3(0, -COLLIDING_VELOCITY, 0)); diff --git a/examples/SoftDemo/K_r_diag_mat.bin b/examples/SoftDemo/K_r_diag_mat.bin index f3f0e69222944afb2be5eaf5b01f23120cefb99f..1e3df0ceaf5b8f292c00df289d6d76144bac3c7a 100644 GIT binary patch literal 676 zcmV;V0$cr50002US_q+nd+9vjbulL2#q~Th&djh1q3k@cSynD)@W(ua)G*%RXucKfKfmlH^}^~ z+EPG3Q7UVlx>G5?4kXS%3 zsg~na7g<2s~|{W0E3OoY zbY(!YCtU#{vt>XHGLx6g>SaJ_Ys`hHCuTrHyLcZa(q=$sw+;Bh- KDm_!RIdMQXyfX~| literal 676 zcmV;V0$cr50002iHC>C4B7(f)1%^p(URFFMtLg}SB!E19BA6+U+g3a$>MTyPLX5mH zvFE2p7BW0cl~Y+0N{~OVxMzFC50gJXIA-)mouoet#&H~t?yWzY1!{^y?XW+H;fb5s zK)XL?ThRwTalJplLbjT!;K4r{?@!6eIKw}c+01Dx_r*VhUwSI$+QvVQ8=Z`-8p%IG z>iqbtF3UgX|CmMirqVwFhFWkjKhr-{+bjcrb<;m2BQXU3!_+^AP_H}2 z^wmE~l%yW}mexP_QCN?^gxWuZq|gr(Gu%I^$5~mkIo?0pSvsRM8{a?aA5rka%ilj` z6iO3CfZ#tux^^>?G~z$TW)GU^q~kxeGP6i)L*zeeFkaMwMdm+PpwnyQX68R6;F%gF zBIrMReC~e9KN~CsMeRRHcJRvNaPL3c z1^P+v4)8yWLhhe3PVhfDY$g-pneaaaF2}ZiPw_uQtBI#oM)E%!@M!TrFY`Y=Brfi+ z$@4!=2BgaiX!Jj-GUt{0HT6G@FG9NV{q;XRp6mme(Dpwn`lAMfoA*EEU}x02ruRPt zdX^^FD)>J-YOT`Y$M`?bufqwITKPY~(hLvO#`!-d4h0A2PWnIWkKIZj$ofA&sQm?U zcKbhB^_8WN#`{0lHHod#4g5dwoi6>jTl_!&(0g0+HT^$!iKnf(_WeKA{YJQ@QvW~g zsn||&g8x5lp5dJQ)&D=OO8tALF91O8QIBi5K>$GAR7&*OjQ~Iwt<2w-Pys-RljFDf z+W|n?Yx}~Ulmb91(PV_@1Oq?^+89d=8w5ahD{qJ5cmzN&aOp&Y$pk=9(&IG0lm$S> Khgdgl3cU2v(n1ouAyQoBQxPpL+JEJlKjah%whsMo4m`)_KO?SIwWc0ru3 zeu)0c+$XpMAHio(e;?cY)w{e-zdX8}V{+6X{T+Wk_Aw`SA0ONtKI;7c)$JkY9Dnap z$Mw4p?oRlat8P!e_PXW$xIXt#=QE;y=q_^HlaKxG$vt($xzT+G^5xOJpZ}=4qkZ&! 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z3Ac}x*Garror1|c9z|3q!l{bdyvsH<2aP0-@E2$oLs!v%28o6BaO-u=0qd1;6yuU$ z)11o&#m%SlWEBw|#C5v=rnHIzL{l`R*Y6 zKVGfx1H}K7l5+pEsL}@p&F|j!IHW){)8oTCd3^=whz4}osd%7K`_EbK6_(%szu0OcqHyH(jIW7^4b?qR}=i;ZTu7d^rReqwg dS)dtqTEtnp4+Ys?`?q+LU0?@8+IV#={vTP6P`>~G diff --git a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp index b03acff7e..19f868bda 100644 --- a/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp +++ b/src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp @@ -168,7 +168,6 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero { if (psb->m_reducedModel) { - btScalar scale = 100; // get reduced force btAlignedObjectArray reduced_force; reduced_force.resize(psb->m_reducedDofs.size(), 0); @@ -181,10 +180,8 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero // reduced_force[r] += scale * psb->m_modes[r][3 * i + k] * force[i][k]; // std::cout << reduced_force[r] << '\t'; - - //TODO: increase stiffness - // reduced_force[r] += scale * psb->m_Kr[r] * psb->m_reducedDofs[r]; - reduced_force[r] += scale * psb->m_Kr[r] * (psb->m_reducedDofs[r] + 0.1 * psb->m_reducedVelocity[r]); + + reduced_force[r] += psb->m_Kr[r] * (psb->m_reducedDofs[r] + 0.1 * psb->m_reducedVelocity[r]); // std::cout << reduced_force[r] << '\n'; // std::cout << psb->m_Kr[r] << "\t" << psb->m_reducedDofs[r] << "\n"; } @@ -192,14 +189,14 @@ void btDeformableBackwardEulerObjective::applyForce(TVStack& force, bool setZero // apply impulses to reduced deformable objects static btScalar sim_time = 0; - static btScalar target_vel = 5; + static btScalar target_vel = 20; static bool apply_impulse = true; if (psb->m_reducedModel && apply_impulse && sim_time > 1) { sim_time += m_dt; apply_impulse = false; - btScalar f_imp = (target_vel - psb->m_nodes[0].m_v[1]) / m_dt;// TODO: need full mass? + btScalar f_imp = psb->m_nodes[i].m_im * (target_vel - psb->m_nodes[0].m_v[1]) / m_dt; for (int i = 0; i < psb->m_reducedDofs.size(); ++i) { reduced_force[i] += psb->m_modes[i][0 * 3 + 1] * f_imp;