AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-13 05:10:08 +00:00
Code Issues Releases Wiki Activity

tune gripper parameters for VR demo

Browse Source
This commit is contained in:
erwin coumans 2016-09-19 14:31:47 -07:00
parent db3122233f
commit a3aa8ef7f1
4 changed files with 34 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
data/l_finger_collision.stl Normal file
View File

Binary file not shown.

38
data/pr2_gripper.urdf
View File

@ -17,7 +17,7 @@
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
</collision>
<inertial>
<mass value="100"/>
<mass value="0.5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
@ -32,7 +32,7 @@
<link name="left_gripper">
<contact>
<lateral_friction value="50.0"/>
<lateral_friction value="5.0"/>
<spinning_friction value="0.1"/>
</contact>
<visual>
@ -41,8 +41,14 @@
<mesh filename="l_finger.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger_collision.stl" scale=".9 .9 .9"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<mass value="0.5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
@ -54,7 +60,7 @@
<link name="left_tip">
<contact>
<lateral_friction value="50.0"/>
<lateral_friction value="5.0"/>
<spinning_friction value="0.1"/>
</contact>
<visual>
@ -65,12 +71,12 @@
</visual>
<collision>
<geometry>
<box size=".13 .03 .02"/>
<box size=".03 .03 .02"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0.055 0.00495 0"/>
<origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
@ -85,8 +91,8 @@
<link name="right_gripper">
<contact>
<lateral_friction value="50.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="5.0"/>
<spinning_friction value="0.3"/>
</contact>
<visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
@ -94,6 +100,12 @@
<mesh filename="l_finger.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger_collision.stl" scale=".9 .9 .9"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
@ -107,8 +119,8 @@
<link name="right_tip">
<contact>
<lateral_friction value="50.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="5.0"/>
<spinning_friction value=".2"/>
</contact>
<visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
@ -118,9 +130,9 @@
</visual>
<collision>
<geometry>
<box size=".13 .03 .02"/>
<box size=".03 .03 .02"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0.055 0.00495 0"/>
<origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
</collision>
<inertial>
<mass value="0.05"/>

10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -557,7 +557,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
m_data = new PhysicsServerCommandProcessorInternalData();
createEmptyDynamicsWorld();
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0;
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0001;
}
@ -596,8 +596,8 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.04;
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
@ -2957,7 +2957,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_data->m_gripperMultiBody->getLink(i ).m_userPtr;
if (motor)
{
motor->setErp(0.1);
motor->setErp(0.2);
btScalar posTarget = 0.1 + (1 - btMin(0.75,gVRGripperAnalog)*1.5)*SIMD_HALF_PI*0.29;
btScalar maxPosTarget = 0.55;
@ -2972,7 +2972,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
motor->setPositionTarget(posTarget, 1);
motor->setVelocityTarget(0, 0.5);
btScalar maxImp = 500*m_data->m_physicsDeltaTime;
btScalar maxImp = 1*m_data->m_physicsDeltaTime;
motor->setMaxAppliedImpulse(maxImp);
}
}

8
examples/StandaloneMain/hellovr_opengl_main.cpp
View File

@ -704,10 +704,10 @@ bool CMainApplication::HandleInput()
///todo(erwincoumans) can't use reguar debug drawer, because physics/graphics are not in sync
//so it can (and likely will) cause crashes
//add a special debug drawer that deals with this
// gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints+
// btIDebugDraw::DBG_DrawConstraintLimits+
// btIDebugDraw::DBG_DrawConstraints
// ;
//gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints+
//btIDebugDraw::DBG_DrawConstraintLimits+
//btIDebugDraw::DBG_DrawConstraints
//;
}
sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn);