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https://github.com/bulletphysics/bullet3
synced 2024-12-13 13:20:07 +00:00
reduced deformable is now working with pybullet
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e386b55543
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@ -5,7 +5,10 @@
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<mass value="1"/>
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<stiffness_scale value="100"/>
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<collision_margin value="0.01"/>
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<erp value= "0.2"/>
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<cfm value= "0.2"/>
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<friction value= "0.5"/>
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<damping_coefficient value="0.0001"/>
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<visual filename="cube_mesh.vtk"/>
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</reduced_deformable>
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</robot>
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@ -1345,6 +1345,45 @@ bool UrdfParser::parseReducedDeformable(UrdfModel& model, tinyxml2::XMLElement*
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}
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}
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{
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XMLElement* erp_xml = config->FirstChildElement("erp");
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if (erp_xml)
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{
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if (!erp_xml->Attribute("value"))
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{
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logger->reportError("friction element must have value attribute");
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return false;
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}
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reduced_deformable.m_erp = urdfLexicalCast<double>(erp_xml->Attribute("value"));
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}
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}
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{
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XMLElement* cfm_xml = config->FirstChildElement("cfm");
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if (cfm_xml)
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{
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if (!cfm_xml->Attribute("value"))
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{
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logger->reportError("cfm element must have value attribute");
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return false;
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}
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reduced_deformable.m_cfm = urdfLexicalCast<double>(cfm_xml->Attribute("value"));
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}
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}
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{
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XMLElement* damping_xml = config->FirstChildElement("damping_coefficient");
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if (damping_xml)
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{
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if (!damping_xml->Attribute("value"))
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{
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logger->reportError("damping_coefficient element must have value attribute");
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return false;
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}
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reduced_deformable.m_damping = urdfLexicalCast<double>(damping_xml->Attribute("value"));
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}
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}
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{
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XMLElement* friction_xml = config->FirstChildElement("friction");
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if (friction_xml)
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@ -257,6 +257,7 @@ struct UrdfReducedDeformable
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double m_cfm;
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double m_friction;
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double m_collisionMargin;
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double m_damping;
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std::string m_visualFileName;
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std::string m_simFileName;
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@ -271,6 +272,7 @@ struct UrdfReducedDeformable
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m_mass(1),
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m_stiffnessScale(100),
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m_collisionMargin(0.02),
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m_damping(0),
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m_visualFileName(""),
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m_simFileName("")
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{}
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@ -8955,7 +8955,6 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
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bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision)
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{
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std::cout << "---process dformable!!\n";
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#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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btSoftBody* psb = NULL;
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CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
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@ -9473,13 +9472,11 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
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m_data->m_pluginManager.addNotification(notification);
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}
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#endif
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std::cout << "---deformable processed!!\n";
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return true;
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}
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bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDeformable& reduced_deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision)
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{
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std::cout << "---process reduced deformable!!\n";
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#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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btReducedSoftBody* rsb = NULL;
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CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
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@ -9494,9 +9491,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
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std::string out_found_filename, out_found_sim_filename;
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int out_type(0), out_sim_type(0);
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// std::cout << relativeFileName << "\n";
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std::cout << pathPrefix << "\n";
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bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
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if (!reduced_deformable.m_simFileName.empty())
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{
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@ -9510,64 +9504,8 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
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if (out_sim_type == UrdfGeometry::FILE_OBJ)
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{
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// std::vector<tinyobj::shape_t> shapes;
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// tinyobj::attrib_t attribute;
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// std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
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// if (!shapes.empty())
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// {
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// const tinyobj::shape_t& shape = shapes[0];
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// btAlignedObjectArray<btScalar> vertices;
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// btAlignedObjectArray<int> indices;
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// for (int i = 0; i < attribute.vertices.size(); i++)
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// {
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// vertices.push_back(attribute.vertices[i]);
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// }
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// for (int i = 0; i < shape.mesh.indices.size(); i++)
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// {
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// indices.push_back(shape.mesh.indices[i].vertex_index);
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// }
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// int numTris = shape.mesh.indices.size() / 3;
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// if (numTris > 0)
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// {
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// {
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// btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
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// if (softWorld)
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// {
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// psb = btSoftBodyHelpers::CreateFromTriMesh(softWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
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// if (!psb)
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// {
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// printf("Load deformable failed\n");
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// return false;
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// }
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// }
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// }
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// {
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// btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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// if (deformWorld)
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// {
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// psb = btSoftBodyHelpers::CreateFromTriMesh(deformWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
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// if (!psb)
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// {
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// printf("Load deformable failed\n");
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// return false;
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// }
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// }
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// }
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// }
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// }
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// #ifndef SKIP_DEFORMABLE_BODY
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// btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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// if (deformWorld && deformable.m_springCoefficients.elastic_stiffness > 0.)
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// {
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// btDeformableLagrangianForce* springForce =
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// new btDeformableMassSpringForce(deformable.m_springCoefficients.elastic_stiffness,
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// deformable.m_springCoefficients.damping_stiffness,
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// !deformable.m_springCoefficients.damp_all_directions,
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// deformable.m_springCoefficients.bending_stiffness);
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// deformWorld->addForce(psb, springForce);
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// m_data->m_lf.push_back(springForce);
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// }
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// #endif
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printf("Obj file is currently unsupported\n");
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return false;
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}
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else if (out_sim_type == UrdfGeometry::FILE_VTK)
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{
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@ -9575,7 +9513,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
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btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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if (deformWorld)
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{
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std::cout << "out_found_sim_filename = " << out_found_sim_filename << "\n";
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rsb = btReducedSoftBodyHelpers::createFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str());
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if (!rsb)
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{
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@ -9584,40 +9521,10 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
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}
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// load modes, reduced stiffness matrix
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rsb->setReducedModes(reduced_deformable.m_startMode, reduced_deformable.m_numModes, rsb->m_nodes.size()); // TODO: add modes info to URDF
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rsb->setStiffnessScale(100);
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rsb->setReducedModes(reduced_deformable.m_startMode, reduced_deformable.m_numModes, rsb->m_nodes.size());
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rsb->setStiffnessScale(reduced_deformable.m_stiffnessScale);
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rsb->setDamping(0, reduced_deformable.m_damping); // damping alpha is set to 0 by default
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btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, pathPrefix);
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// btScalar corotated_mu(0.), corotated_lambda(0.);
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// corotated_mu = deformable.m_corotatedCoefficients.mu;
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// corotated_lambda = deformable.m_corotatedCoefficients.lambda;
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// if (corotated_mu > 0 || corotated_lambda > 0)
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// {
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// btDeformableLagrangianForce* corotatedForce = new btDeformableCorotatedForce(corotated_mu, corotated_lambda);
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// deformWorld->addForce(psb, corotatedForce);
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// m_data->m_lf.push_back(corotatedForce);
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// }
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// btScalar neohookean_mu, neohookean_lambda, neohookean_damping;
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// neohookean_mu = deformable.m_neohookeanCoefficients.mu;
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// neohookean_lambda = deformable.m_neohookeanCoefficients.lambda;
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// neohookean_damping = deformable.m_neohookeanCoefficients.damping;
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// if (neohookean_mu > 0 || neohookean_lambda > 0)
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// {
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// btDeformableLagrangianForce* neohookeanForce = new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda, neohookean_damping);
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// deformWorld->addForce(psb, neohookeanForce);
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// m_data->m_lf.push_back(neohookeanForce);
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// }
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// btScalar spring_elastic_stiffness, spring_damping_stiffness, spring_bending_stiffness;
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// spring_elastic_stiffness = deformable.m_springCoefficients.elastic_stiffness;
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// spring_damping_stiffness = deformable.m_springCoefficients.damping_stiffness;
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// spring_bending_stiffness = deformable.m_springCoefficients.bending_stiffness;
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// if (spring_elastic_stiffness > 0.)
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// {
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// btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true, spring_bending_stiffness);
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// deformWorld->addForce(psb, springForce);
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// m_data->m_lf.push_back(springForce);
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// }
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}
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#endif
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}
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@ -9717,11 +9624,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
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btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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if (deformWorld)
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{
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// btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
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// btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity);
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// deformWorld->addForce(rsb, gravityForce);
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// m_data->m_lf.push_back(gravityForce);
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btScalar collision_hardness = 1;
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rsb->m_cfg.kKHR = collision_hardness;
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rsb->m_cfg.kCHR = collision_hardness;
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@ -9762,8 +9664,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
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// }
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// #endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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rsb->scale(btVector3(scale, scale, scale));
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// rsb->rotate(orn);
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// rsb->translate(pos);
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btTransform init_transform;
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init_transform.setOrigin(pos);
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init_transform.setRotation(orn);
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@ -9789,7 +9689,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
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}
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*bodyUniqueId = m_data->m_bodyHandles.allocHandle();
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std::cout << "bodyUniqueId: " << *bodyUniqueId;
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InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(*bodyUniqueId);
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bodyHandle->m_softBody = rsb;
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rsb->setUserIndex2(*bodyUniqueId);
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@ -10008,8 +9907,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
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m_data->m_pluginManager.addNotification(notification);
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}
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#endif
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std::cout << "---reduced deformable processed!!\n";
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// exit(123);
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return true;
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}
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@ -7,19 +7,15 @@ physicsClient = p.connect(p.GUI)
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p.setAdditionalSearchPath(pybullet_data.getDataPath())
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p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
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p.resetDebugVisualizerCamera(3,-420,-30,[0.3,0.9,-2])
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p.resetDebugVisualizerCamera(4,-40,-30,[0, 0, 0])
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p.setGravity(0, 0, -10)
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tex = p.loadTexture("uvmap.png")
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planeId = p.loadURDF("plane.urdf", [0,0,-2])
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# boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
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# bunnyId = p.loadSoftBody("torus/torus_textured.obj", simFileName="torus.vtk", mass = 3, useNeoHookean = 1, NeoHookeanMu = 180, NeoHookeanLambda = 600, NeoHookeanDamping = 0.01, collisionMargin = 0.006, useSelfCollision = 1, frictionCoeff = 0.5, repulsionStiffness = 800)
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# p.changeVisualShape(bunnyId, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
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bunny2 = p.loadURDF("reduced_cube/reduced_cube.urdf", [0,1,0.5], flags=p.URDF_USE_SELF_COLLISION)
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p.changeVisualShape(bunny2, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
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p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "reduced_cube.mp4")
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cube = p.loadURDF("reduced_cube/reduced_cube.urdf", [1,1,1])
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p.changeVisualShape(cube, -1, rgbaColor=[1,1,1,1], textureUniqueId=tex, flags=0)
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p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
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p.setRealTimeSimulation(0)
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@ -461,6 +461,11 @@ void btReducedSoftBody::scale(const btVector3& scl)
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internalInitialization();
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}
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void btReducedSoftBody::setTotalMass(btScalar mass, bool fromfaces)
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{
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//
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}
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void btReducedSoftBody::updateRestNodalPositions()
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{
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// update reset nodal position
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@ -124,6 +124,8 @@ class btReducedSoftBody : public btSoftBody
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void setDamping(const btScalar alpha, const btScalar beta);
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virtual void setTotalMass(btScalar mass, bool fromfaces = false);
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//
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// various internal updates
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//
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