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Merge pull request #2968 from xhan0619/implicit-picking

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Implicit picking
This commit is contained in:
erwincoumans 2020-08-06 17:16:22 -07:00 committed by GitHub
commit b09f9eda1d
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4 changed files with 8 additions and 6 deletions
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4
data/torus_deform.urdf
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@ -2,13 +2,13 @@
<robot name="torus">
<deformable name="torus">
<inertial>
<mass value="1" />
<mass value="3" />
<inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision_margin value="0.006"/>
<repulsion_stiffness value="800.0"/>
<friction value= "0.5"/>
<neohookean mu= "60" lambda= "200" damping= "0.01" />
<neohookean mu= "180" lambda= "600" damping= "0.01" />
<visual filename="torus.vtk"/>
</deformable>
</robot>

2
examples/pybullet/examples/deformable_ball.py
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@ -14,7 +14,7 @@ planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
ballId = p.loadSoftBody("ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 0.1, useNeoHookean = 1, NeoHookeanMu = 20, NeoHookeanLambda = 20, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5, collisionMargin = 0.006)
ballId = p.loadSoftBody("ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 4, useNeoHookean = 1, NeoHookeanMu = 400, NeoHookeanLambda = 600, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5, collisionMargin = 0.001)
p.setTimeStep(0.001)
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(1)

2
examples/pybullet/examples/deformable_torus.py
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@ -14,7 +14,7 @@ planeId = p.loadURDF("plane.urdf", [0,0,-2])
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
bunnyId = p.loadSoftBody("torus.vtk", mass = 1, useNeoHookean = 1, NeoHookeanMu = 60, NeoHookeanLambda = 200, NeoHookeanDamping = 0.01, collisionMargin = 0.006, useSelfCollision = 1, frictionCoeff = 0.5, repulsionStiffness = 800)
bunnyId = p.loadSoftBody("torus.vtk", mass = 3, useNeoHookean = 1, NeoHookeanMu = 180, NeoHookeanLambda = 600, NeoHookeanDamping = 0.01, collisionMargin = 0.006, useSelfCollision = 1, frictionCoeff = 0.5, repulsionStiffness = 800)
bunny2 = p.loadURDF("torus_deform.urdf", [0,1,0], flags=p.URDF_USE_SELF_COLLISION)

6
src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp
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@ -86,7 +86,8 @@ void btDeformableBackwardEulerObjective::multiply(const TVStack& x, TVStack& b)
{
// add damping matrix
m_lf[i]->addScaledDampingForceDifferential(-m_dt, x, b);
if (m_implicit)
// Always integrate picking force implicitly for stability.
if (m_implicit || m_lf[i]->getForceType() == BT_MOUSE_PICKING_FORCE)
{
m_lf[i]->addScaledElasticForceDifferential(-m_dt * m_dt, x, b);
}
@ -176,7 +177,8 @@ void btDeformableBackwardEulerObjective::computeResidual(btScalar dt, TVStack& r
// add implicit force
for (int i = 0; i < m_lf.size(); ++i)
{
if (m_implicit)
// Always integrate picking force implicitly for stability.
if (m_implicit || m_lf[i]->getForceType() == BT_MOUSE_PICKING_FORCE)
{
m_lf[i]->addScaledForces(dt, residual);
}