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Code Issues Releases Wiki Activity

new vtk mesh

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This commit is contained in:
Xuchen Han 2019-08-31 14:37:38 -07:00
parent a47eeb8225
commit 27bf4d3372
2 changed files with 3243 additions and 15 deletions
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3225
data/paper_collision.vtk Normal file
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File diff suppressed because it is too large Load Diff

33
examples/DeformableDemo/GraspDeformable.cpp
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@ -129,6 +129,7 @@ public:
//use a smaller internal timestep, there are stability issues
float internalTimeStep = 1. / 250.f;
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
btSoftBodyHelpers::writeObj("/Users/xuchenhan/Desktop/paper.obj", getDeformableDynamicsWorld()->getSoftBodyArray()[0]);
}
void createGrip()
@ -325,7 +326,8 @@ void GraspDeformable::initPhysics()
{
char relative_path[1024];
// b3FileUtils::findFile("banana.vtk", relative_path, 1024);
b3FileUtils::findFile("ball.vtk", relative_path, 1024);
// b3FileUtils::findFile("ball.vtk", relative_path, 1024);
b3FileUtils::findFile("paper_collision.vtk", relative_path, 1024);
// b3FileUtils::findFile("single_tet.vtk", relative_path, 1024);
// b3FileUtils::findFile("tube.vtk", relative_path, 1024);
// b3FileUtils::findFile("torus.vtk", relative_path, 1024);
@ -341,10 +343,11 @@ void GraspDeformable::initPhysics()
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path);
// psb->scale(btVector3(30, 30, 30)); // for banana
psb->scale(btVector3(.25, .25, .25));
// psb->scale(btVector3(.25, .25, .25));
// psb->scale(btVector3(2, 2, 2));
// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
// psb->scale(btVector3(1, 1, 1)); // for ditto
psb->translate(btVector3(.25, 0, 0.4));
// psb->translate(btVector3(.25, 0, 0.4));
psb->getCollisionShape()->setMargin(0.02);
psb->setTotalMass(.1);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
@ -352,15 +355,15 @@ void GraspDeformable::initPhysics()
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.0,.04, true);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
m_forces.push_back(mass_spring);
// btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(.0,.04, true);
// getDeformableDynamicsWorld()->addForce(psb, mass_spring);
// m_forces.push_back(mass_spring);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(5,10);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
@ -369,7 +372,7 @@ void GraspDeformable::initPhysics()
// // create a piece of cloth
// {
// bool onGround = false;
// const btScalar s = 4;
// const btScalar s = .4;
// btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, 0, -s),
// btVector3(+s, 0, -s),
// btVector3(-s, 0, +s),
@ -386,17 +389,17 @@ void GraspDeformable::initPhysics()
// 2,2,
// 0, true);
//
// psb->getCollisionShape()->setMargin(0.1);
// psb->getCollisionShape()->setMargin(0.02);
// psb->generateBendingConstraints(2);
// psb->setTotalMass(1);
// psb->setSpringStiffness(2);
// psb->setDampingCoefficient(0.03);
// psb->setTotalMass(.01);
// psb->setSpringStiffness(5);
// psb->setDampingCoefficient(0.05);
// psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
// psb->m_cfg.kCHR = 1; // collision hardness with rigid body
// psb->m_cfg.kDF = 1;
// psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
// getDeformableDynamicsWorld()->addSoftBody(psb);
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.2,0.02, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// }