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Code Issues Releases Wiki Activity

tune parameters in deformable demos

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This commit is contained in:
Xuchen Han 2020-04-27 17:30:46 -07:00
parent 5fe898f9f2
commit 301cad8a09
2 changed files with 32 additions and 32 deletions
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52
examples/DeformableDemo/GraspDeformable.cpp
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@ -73,10 +73,10 @@ public:
void resetCamera()
{
float dist = 2;
float dist = 0.3;
float pitch = -45;
float yaw = 100;
float targetPos[3] = {0, -0, 0};
float targetPos[3] = {0, -0.1, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
@ -105,12 +105,12 @@ public:
if (dofIndex == 6)
{
motor->setVelocityTarget(-fingerTargetVelocities[1], 1);
motor->setMaxAppliedImpulse(2);
motor->setMaxAppliedImpulse(20);
}
if (dofIndex == 7)
{
motor->setVelocityTarget(fingerTargetVelocities[1], 1);
motor->setMaxAppliedImpulse(2);
motor->setMaxAppliedImpulse(20);
}
motor->setMaxAppliedImpulse(1);
}
@ -208,9 +208,9 @@ void GraspDeformable::initPhysics()
bool canSleep = false;
bool selfCollide = true;
int numLinks = 2;
btVector3 linkHalfExtents(.1, .2, .04);
btVector3 baseHalfExtents(.1, 0.02, .2);
btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, .7f,0.f), linkHalfExtents, baseHalfExtents, false);
btVector3 linkHalfExtents(0.02, 0.018, .003);
btVector3 baseHalfExtents(0.02, 0.002, .002);
btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 0.05f,0.f), linkHalfExtents, baseHalfExtents, false);
mbC->setCanSleep(canSleep);
mbC->setHasSelfCollision(selfCollide);
@ -258,7 +258,7 @@ void GraspDeformable::initPhysics()
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -5.3, 0));
groundTransform.setOrigin(btVector3(0, -5.1, 0));
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
btScalar mass(0.);
@ -309,7 +309,7 @@ void GraspDeformable::initPhysics()
// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
// psb->scale(btVector3(.1, .1, .1)); // for ditto
// psb->translate(btVector3(.25, 10, 0.4));
psb->getCollisionShape()->setMargin(0.0005);
psb->getCollisionShape()->setMargin(0.01);
psb->setMaxStress(50);
psb->setTotalMass(.1);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
@ -334,8 +334,8 @@ void GraspDeformable::initPhysics()
if(1)
{
bool onGround = false;
const btScalar s = .5;
const btScalar h = .1;
const btScalar s = .05;
const btScalar h = -0.02;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
btVector3(+s, h, -s),
btVector3(-s, h, +s),
@ -352,37 +352,35 @@ void GraspDeformable::initPhysics()
2,2,
0, true);
psb->getCollisionShape()->setMargin(0.01);
psb->getCollisionShape()->setMargin(0.003);
psb->generateBendingConstraints(2);
psb->setTotalMass(1);
psb->setTotalMass(0.005);
psb->setSpringStiffness(10);
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 = 2;
psb->m_cfg.kDF = 1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
// psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb);
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.0,0.0, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(10,1, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0.05,0.005, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity*0.1));
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
{
SliderParams slider("Moving velocity", &sGripperVerticalVelocity);
slider.m_minVal = -.2;
slider.m_maxVal = .2;
slider.m_minVal = -.02;
slider.m_maxVal = .02;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
slider.m_minVal = -.5;
slider.m_maxVal = .5;
slider.m_minVal = -1;
slider.m_maxVal = 1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
@ -436,8 +434,8 @@ btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWor
{
//init the base
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
float baseMass = 100.f;
float linkMass = 100.f;
float baseMass = 0.1;
float linkMass = 0.1;
int numLinks = 2;
if (baseMass)
@ -465,8 +463,8 @@ btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWor
//y-axis assumed up
btAlignedObjectArray<btVector3> parentComToCurrentCom;
parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, -baseHalfExtents[2] * 4.f));
parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, +baseHalfExtents[2] * 4.f));//par body's COM to cur body's COM offset
parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, -baseHalfExtents[2] * 2.f));
parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, +baseHalfExtents[2] * 2.f));//par body's COM to cur body's COM offset
btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1]*8.f, 0); //cur body's COM to cur body's PIV offset
@ -507,6 +505,7 @@ void GraspDeformable::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsW
if (1)
{
btCollisionShape* box = new btBoxShape(baseHalfExtents);
box->setMargin(0.001);
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
col->setCollisionShape(box);
@ -537,6 +536,7 @@ void GraspDeformable::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsW
btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
btCollisionShape* box = new btBoxShape(linkHalfExtents);
box->setMargin(0.001);
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
col->setCollisionShape(box);

12
examples/DeformableDemo/Pinch.cpp
View File

@ -300,21 +300,21 @@ void Pinch::initPhysics()
psb->setTotalMass(1);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
psb->m_cfg.kDF = .5;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
getDeformableDynamicsWorld()->addSoftBody(psb);
btSoftBodyHelpers::generateBoundaryFaces(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05);
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(.2,1);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(8,3, 0.02);
neohookean->setPoissonRatio(0.3);
neohookean->setYoungsModulus(25);
neohookean->setDamping(0.01);
psb->m_cfg.drag = 0.001;
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
// add a grippers