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Code Issues Releases Wiki Activity

address PR comment and tune parameters for cloth

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This commit is contained in:
Xuchen Han 2019-12-19 21:51:54 -08:00
parent 4ab0387262
commit 6a8973d2f4
3 changed files with 25 additions and 8 deletions
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12
examples/RoboticsLearning/GripperGraspExample.cpp
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@ -424,12 +424,13 @@ public:
m_robotSim.setGravity(btVector3(0, 0, -10)); m_robotSim.setGravity(btVector3(0, 0, -10));
m_robotSim.setGravity(btVector3(0, 0, -10)); m_robotSim.setGravity(btVector3(0, 0, -10));
b3RobotSimulatorLoadDeformableBodyArgs args(1, .01, 0.02); b3RobotSimulatorLoadDeformableBodyArgs args(2, .01, 0.006);
args.m_springElasticStiffness = 1; args.m_springElasticStiffness = .1;
args.m_springDampingStiffness = .001; args.m_springDampingStiffness = .0004;
args.m_springBendingStiffness = .2; args.m_springBendingStiffness = 1;
args.m_frictionCoeff = 2; args.m_frictionCoeff = 1;
args.m_useSelfCollision = false; args.m_useSelfCollision = false;
// args.m_useFaceContact = true;
args.m_useBendingSprings = true; args.m_useBendingSprings = true;
args.m_startPosition.setValue(0, 0, 0); args.m_startPosition.setValue(0, 0, 0);
args.m_startOrientation.setValue(0, 0, 1, 1); args.m_startOrientation.setValue(0, 0, 1, 1);
@ -475,6 +476,7 @@ public:
revoluteJoint2.m_jointType = ePoint2PointType; revoluteJoint2.m_jointType = ePoint2PointType;
m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1); m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1);
m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2); m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
m_robotSim.setNumSimulationSubSteps(8);
} }
if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0) if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)

10
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@ -1178,8 +1178,14 @@ void b3RobotSimulatorClientAPI_NoDirect::loadDeformableBody(const std::string& f
b3LoadSoftBodySetScale(command, args.m_scale); b3LoadSoftBodySetScale(command, args.m_scale);
b3LoadSoftBodySetMass(command, args.m_mass); b3LoadSoftBodySetMass(command, args.m_mass);
b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin); b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin);
b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping); if (args.m_NeoHookeanMu > 0)
b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness); {
b3LoadSoftBodyAddNeoHookeanForce(command, args.m_NeoHookeanMu, args.m_NeoHookeanLambda, args.m_NeoHookeanDamping);
}
if (args.m_springElasticStiffness > 0)
{
b3LoadSoftBodyAddMassSpringForce(command, args.m_springElasticStiffness, args.m_springDampingStiffness);
}
b3LoadSoftBodySetSelfCollision(command, args.m_useSelfCollision); b3LoadSoftBodySetSelfCollision(command, args.m_useSelfCollision);
b3LoadSoftBodyUseFaceContact(command, args.m_useFaceContact); b3LoadSoftBodyUseFaceContact(command, args.m_useFaceContact);
b3LoadSoftBodySetFrictionCoefficient(command, args.m_frictionCoeff); b3LoadSoftBodySetFrictionCoefficient(command, args.m_frictionCoeff);

11
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@ -113,7 +113,16 @@ struct b3RobotSimulatorLoadDeformableBodyArgs
m_startOrientation(startOrn), m_startOrientation(startOrn),
m_scale(scale), m_scale(scale),
m_mass(mass), m_mass(mass),
m_collisionMargin(collisionMargin) m_collisionMargin(collisionMargin),
m_springElasticStiffness(-1),
m_springDampingStiffness(-1),
m_springBendingStiffness(-1),
m_NeoHookeanMu(-1),
m_NeoHookeanDamping(-1),
m_useSelfCollision(false),
m_useFaceContact(false),
m_useBendingSprings(false),
m_frictionCoeff(0)
{ {
} }