AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-13 13:20:07 +00:00
Code Issues Releases Wiki Activity

Merge remote-tracking branch 'bp/master'

Browse Source
This commit is contained in:
Erwin Coumans 2020-06-16 16:20:17 -07:00
commit 4786ca1df2
8 changed files with 41 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@ -1174,6 +1174,17 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config,
}
deformable.m_repulsionStiffness = urdfLexicalCast<double>(repulsion_xml->Attribute("value"));
}
XMLElement* grav_xml = config->FirstChildElement("gravity_factor");
if (grav_xml)
{
if (!grav_xml->Attribute("value"))
{
logger->reportError("gravity_factor element must have value attribute");
return false;
}
deformable.m_gravFactor = urdfLexicalCast<double>(grav_xml->Attribute("value"));
}
XMLElement* spring_xml = config->FirstChildElement("spring");
if (spring_xml)

3
examples/Importers/ImportURDFDemo/UrdfParser.h
View File

@ -228,6 +228,7 @@ struct UrdfDeformable
double m_collisionMargin;
double m_friction;
double m_repulsionStiffness;
double m_gravFactor;
SpringCoeffcients m_springCoefficients;
LameCoefficients m_corotatedCoefficients;
@ -237,7 +238,7 @@ struct UrdfDeformable
std::string m_simFileName;
btHashMap<btHashString, std::string> m_userData;
UrdfDeformable() : m_mass(1.), m_collisionMargin(0.02), m_friction(1.), m_repulsionStiffness(0.5), m_visualFileName(""), m_simFileName("")
UrdfDeformable() : m_mass(1.), m_collisionMargin(0.02), m_friction(1.), m_repulsionStiffness(0.5), m_gravFactor(1.), m_visualFileName(""), m_simFileName("")
{
}
};

9
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@ -413,6 +413,15 @@ B3_SHARED_API int b3LoadSoftBodySetRepulsionStiffness(b3SharedMemoryCommandHandl
return 0;
}
B3_SHARED_API int b3LoadSoftBodySetGravityFactor(b3SharedMemoryCommandHandle commandHandle, double gravFactor)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_gravFactor = gravFactor;
command->m_updateFlags |= LOAD_SOFT_BODY_SET_GRAVITY_FACTOR;
return 0;
}
B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -8434,7 +8434,10 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
{
deformable.m_repulsionStiffness = loadSoftBodyArgs.m_repulsionStiffness;
}
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_GRAVITY_FACTOR)
{
deformable.m_gravFactor = loadSoftBodyArgs.m_gravFactor;
}
#endif
}
@ -8647,14 +8650,17 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
// turn on the collision flag for deformable
// collision between deformable and rigid
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
// turn on face contact only for multibodies
// turn on face contact for multibodies
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
/// turn on face contact for rigid body
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
// collion between deformable and deformable and self-collision
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
psb->setCollisionFlags(0);
psb->setTotalMass(deformable.m_mass);
psb->setSelfCollision(useSelfCollision);
psb->setSpringStiffness(deformable.m_repulsionStiffness);
psb->setGravityFactor(deformable.m_gravFactor);
psb->initializeFaceTree();
}
#endif //SKIP_DEFORMABLE_BODY

2
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -515,6 +515,7 @@ enum EnumLoadSoftBodyUpdateFlags
LOAD_SOFT_BODY_SIM_MESH = 1<<15,
LOAD_SOFT_BODY_SET_REPULSION_STIFFNESS = 1<<16,
LOAD_SOFT_BODY_SET_DAMPING_SPRING_MODE = 1<<17,
LOAD_SOFT_BODY_SET_GRAVITY_FACTOR = 1<<18,
};
enum EnumSimParamInternalSimFlags
@ -549,6 +550,7 @@ struct LoadSoftBodyArgs
int m_useFaceContact;
char m_simFileName[MAX_FILENAME_LENGTH];
double m_repulsionStiffness;
double m_gravFactor;
};
struct b3LoadSoftBodyResultArgs

2
src/BulletSoftBody/btDeformableGravityForce.h
View File

@ -68,7 +68,7 @@ public:
btSoftBody::Node& n = psb->m_nodes[j];
size_t id = n.index;
btScalar mass = (n.m_im == 0) ? 0 : 1. / n.m_im;
btVector3 scaled_force = scale * m_gravity * mass;
btVector3 scaled_force = scale * m_gravity * mass * m_softBodies[i]->m_gravityFactor;
force[id] += scaled_force;
}
}

6
src/BulletSoftBody/btSoftBody.cpp
View File

@ -228,6 +228,7 @@ void btSoftBody::initDefaults()
m_softSoftCollision = false;
m_maxSpeedSquared = 0;
m_repulsionStiffness = 0.5;
m_gravityFactor = 1;
m_fdbvnt = 0;
}
@ -3445,6 +3446,11 @@ void btSoftBody::setSpringStiffness(btScalar k)
m_repulsionStiffness = k;
}
void btSoftBody::setGravityFactor(btScalar gravFactor)
{
m_gravityFactor = gravFactor;
}
void btSoftBody::initializeDmInverse()
{
btScalar unit_simplex_measure = 1./6.;

2
src/BulletSoftBody/btSoftBody.h
View File

@ -821,6 +821,7 @@ public:
btScalar m_maxSpeedSquared;
btAlignedObjectArray<btVector3> m_quads; // quadrature points for collision detection
btScalar m_repulsionStiffness;
btScalar m_gravityFactor;
btAlignedObjectArray<btVector3> m_X; // initial positions
btAlignedObjectArray<btVector4> m_renderNodesInterpolationWeights;
@ -1169,6 +1170,7 @@ public:
void applyClusters(bool drift);
void dampClusters();
void setSpringStiffness(btScalar k);
void setGravityFactor(btScalar gravFactor);
void initializeDmInverse();
void updateDeformation();
void advanceDeformation();