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Code Issues Releases Wiki Activity

parameter tuning for new solver

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This commit is contained in:
Xuchen Han 2020-04-15 14:49:07 -07:00
parent 5cb252dc4c
commit b3e23cfaa4
13 changed files with 77 additions and 58 deletions
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2
examples/CommonInterfaces/CommonDeformableBodyBase.h
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@ -115,7 +115,7 @@ struct CommonDeformableBodyBase : public CommonMultiBodyBase
m_pickedSoftBody = psb;
psb->setActivationState(DISABLE_DEACTIVATION);
const btSoftBody::Face& f = psb->m_faces[face_id];
btDeformableMousePickingForce* mouse_force = new btDeformableMousePickingForce(100, 0.2, f, m_hitPos, m_maxPickingForce);
btDeformableMousePickingForce* mouse_force = new btDeformableMousePickingForce(100, 0, f, m_hitPos, m_maxPickingForce);
m_mouseForce = mouse_force;
getDeformableDynamicsWorld()->addForce(psb, mouse_force);
}

10
examples/DeformableDemo/ClothFriction.cpp
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@ -147,11 +147,12 @@ void ClothFriction::initPhysics()
psb->getCollisionShape()->setMargin(0.05);
psb->generateBendingConstraints(2);
psb->setTotalMass(1);
psb->setSpringStiffness(10);
psb->setSpringStiffness(100);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 3;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb);
@ -175,16 +176,17 @@ void ClothFriction::initPhysics()
psb2->getCollisionShape()->setMargin(0.05);
psb2->generateBendingConstraints(2);
psb2->setTotalMass(1);
psb2->setSpringStiffness(10);
psb2->setSpringStiffness(100);
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
psb2->m_cfg.kDF = 20;
psb2->m_cfg.kDF = 1;
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb2->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
psb->translate(btVector3(0,0,0));
getDeformableDynamicsWorld()->addSoftBody(psb2);
btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,1, true);
btDeformableMassSpringForce* mass_spring2 = new btDeformableMassSpringForce(10,.1, true);
getDeformableDynamicsWorld()->addForce(psb2, mass_spring2);
m_forces.push_back(mass_spring2);

5
examples/DeformableDemo/DeformableClothAnchor.cpp
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@ -134,7 +134,7 @@ void DeformableClothAnchor::initPhysics()
{
const btScalar s = 4;
const btScalar h = 6;
const int r = 9;
const int r = 8;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
btVector3(+s, h, -s),
btVector3(-s, h, +s),
@ -146,6 +146,7 @@ void DeformableClothAnchor::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
getDeformableDynamicsWorld()->addSoftBody(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(100,1, true);
@ -159,7 +160,7 @@ void DeformableClothAnchor::initPhysics()
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0, h, -(s + 3.5)));
btRigidBody* body = createRigidBody(2, startTransform, new btBoxShape(btVector3(s, 1, 3)));
btRigidBody* body = createRigidBody(1, startTransform, new btBoxShape(btVector3(s, 1, 3)));
psb->appendDeformableAnchor(0, body);
psb->appendDeformableAnchor(r - 1, body);
}

2
examples/DeformableDemo/DeformableContact.cpp
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@ -151,6 +151,7 @@ void DeformableContact::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 0;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb);
@ -179,6 +180,7 @@ void DeformableContact::initPhysics()
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
psb2->m_cfg.kDF = 0.5;
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb2->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
psb->translate(btVector3(3.5,0,0));
getDeformableDynamicsWorld()->addSoftBody(psb2);

1
examples/DeformableDemo/DeformableMultibody.cpp
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@ -199,6 +199,7 @@ void DeformableMultibody::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
psb->setCollisionFlags(0);
getDeformableDynamicsWorld()->addSoftBody(psb);

19
examples/DeformableDemo/DeformableRigid.cpp
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@ -57,7 +57,7 @@ public:
void Ctor_RbUpStack(int count)
{
float mass = 0.2;
float mass = .2;
btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(2, .5, .5));
@ -72,8 +72,8 @@ public:
btCollisionShape* shape[] = {
new btBoxShape(btVector3(1, 1, 1)),
// new btSphereShape(0.75),
// cylinderCompound
new btSphereShape(0.75),
cylinderCompound
};
// static const int nshapes = sizeof(shape) / sizeof(shape[0]);
// for (int i = 0; i < count; ++i)
@ -167,7 +167,7 @@ void DeformableRigid::initPhysics()
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -32, 0));
groundTransform.setOrigin(btVector3(0, -42, 0));
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
btScalar mass(0.);
@ -190,6 +190,7 @@ void DeformableRigid::initPhysics()
}
// create a piece of cloth
if(1)
{
bool onGround = false;
const btScalar s = 4;
@ -200,8 +201,8 @@ void DeformableRigid::initPhysics()
btVector3(-s, h, +s),
btVector3(+s, h, +s),
// 3,3,
20,20,
1 + 2 + 4 + 8, true);
20,20,
1 + 2 + 4 + 8, true);
// 0, true);
if (onGround)
@ -218,12 +219,12 @@ void DeformableRigid::initPhysics()
psb->setTotalMass(1);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = .4;
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
getDeformableDynamicsWorld()->addSoftBody(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, true);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(15,0.5, true);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
m_forces.push_back(mass_spring);
@ -231,8 +232,8 @@ void DeformableRigid::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
// add a few rigid bodies
Ctor_RbUpStack(1);
}
Ctor_RbUpStack(10);
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);

11
examples/DeformableDemo/DeformableSelfCollision.cpp
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@ -119,8 +119,8 @@ void DeformableSelfCollision::initPhysics()
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
addCloth(btVector3(0, -0.2, 0));
addCloth(btVector3(0, -0.1, 0));
addCloth(btVector3(0, 1, 0));
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
@ -140,24 +140,25 @@ void DeformableSelfCollision::addCloth(btVector3 origin)
0, true, 0.0);
psb->getCollisionShape()->setMargin(0.02);
psb->getCollisionShape()->setMargin(0.01);
psb->generateBendingConstraints(2);
psb->setTotalMass(.5);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 0.1;
psb->rotate(btQuaternion(0, SIMD_PI / 4, 0));
// psb->rotate(btQuaternion(0, SIMD_PI / 2, 0));
btTransform clothTransform;
clothTransform.setIdentity();
clothTransform.setOrigin(btVector3(0,0.2,0)+origin);
psb->transform(clothTransform);
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb);
psb->setSelfCollision(true);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.1, true);
psb->setSpringStiffness(2);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.02, true);
psb->setSpringStiffness(4);
getDeformableDynamicsWorld()->addForce(psb, mass_spring);
m_forces.push_back(mass_spring);
btVector3 gravity = btVector3(0, -9.8, 0);

58
examples/DeformableDemo/GraspDeformable.cpp
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@ -219,7 +219,7 @@ void GraspDeformable::initPhysics()
for (int i = 0; i < numLinks; i++)
{
int mbLinkIndex = i;
float maxMotorImpulse = 1.f;
double maxMotorImpulse = 1;
if (supportsJointMotor(mbC, mbLinkIndex))
{
@ -252,13 +252,13 @@ void GraspDeformable::initPhysics()
//create a ground
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(10.), btScalar(5.), btScalar(10.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -25-.6, 0));
groundTransform.setOrigin(btVector3(0, -5.3, 0));
groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
btScalar mass(0.);
@ -274,47 +274,49 @@ void GraspDeformable::initPhysics()
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(0.1);
body->setFriction(0.5);
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body,1,1+2);
}
// create a soft block
if (1)
if (0)
{
char absolute_path[1024];
b3BulletDefaultFileIO fileio;
// fileio.findResourcePath("ditto.vtk", absolute_path, 1024);
// fileio.findResourcePath("banana.vtk", absolute_path, 1024);
// fileio.findResourcePath("ball.vtk", absolute_path, 1024);
fileio.findResourcePath("ball.vtk", absolute_path, 1024);
// fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024);
// fileio.findResourcePath("single_tet.vtk", absolute_path, 1024);
fileio.findResourcePath("tube.vtk", absolute_path, 1024);
// fileio.findResourcePath("tube.vtk", absolute_path, 1024);
// fileio.findResourcePath("torus.vtk", absolute_path, 1024);
// fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024);
// fileio.findResourcePath("bread.vtk", absolute_path, 1024);
// fileio.findResourcePath("boot.vtk", absolute_path, 1024);
// btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
// TetraCube::getElements(),
// 0,
// TetraCube::getNodes(),
// false, true, true);
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), absolute_path);
btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
TetraCube::getElements(),
0,
TetraCube::getNodes(),
false, true, true);
btSoftBodyHelpers::generateBoundaryFaces(psb);
// btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), absolute_path);
// psb->scale(btVector3(30, 30, 30)); // for banana
// psb->scale(btVector3(.7, .7, .7));
// psb->scale(btVector3(2, 2, 2));
psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
psb->scale(btVector3(.2, .2, .2));
// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
// psb->scale(btVector3(.1, .1, .1)); // for ditto
// psb->translate(btVector3(.25, 10, 0.4));
psb->getCollisionShape()->setMargin(0.0005);
psb->setMaxStress(50);
psb->setTotalMass(.01);
psb->setTotalMass(.1);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
getDeformableDynamicsWorld()->addSoftBody(psb);
@ -322,23 +324,23 @@ void GraspDeformable::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(2,8,.02);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(20,80,.01);
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
}
getDeformableDynamicsWorld()->setImplicit(false);
// create a piece of cloth
if(0)
if(1)
{
bool onGround = false;
const btScalar s = .1;
const btScalar h = 1;
const btScalar s = .5;
const btScalar h = .1;
btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
btVector3(+s, h, -s),
btVector3(-s, h, +s),
btVector3(+s, h, +s),
20,20,
10,10,
0, true);
if (onGround)
@ -350,19 +352,21 @@ void GraspDeformable::initPhysics()
2,2,
0, true);
psb->getCollisionShape()->setMargin(0.005);
psb->getCollisionShape()->setMargin(0.01);
psb->generateBendingConstraints(2);
psb->setTotalMass(.01);
psb->setTotalMass(1);
psb->setSpringStiffness(10);
psb->setDampingCoefficient(0.05);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 1;
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb);
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.0,0.0, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.05, false));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(10,0.05, true));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
}
@ -377,8 +381,8 @@ void GraspDeformable::initPhysics()
{
SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
slider.m_minVal = -.3;
slider.m_maxVal = .3;
slider.m_minVal = -.5;
slider.m_maxVal = .5;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}

1
examples/DeformableDemo/MultibodyClothAnchor.cpp
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@ -150,6 +150,7 @@ void MultibodyClothAnchor::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
getDeformableDynamicsWorld()->addSoftBody(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, true);

1
examples/DeformableDemo/Pinch.cpp
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@ -302,6 +302,7 @@ void Pinch::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
getDeformableDynamicsWorld()->addSoftBody(psb);
btSoftBodyHelpers::generateBoundaryFaces(psb);

3
examples/DeformableDemo/PinchFriction.cpp
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@ -273,6 +273,7 @@ void PinchFriction::initPhysics()
psb->m_cfg.kDF = 2;
btSoftBodyHelpers::generateBoundaryFaces(psb);
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
getDeformableDynamicsWorld()->addSoftBody(psb);
@ -302,6 +303,7 @@ void PinchFriction::initPhysics()
psb2->m_cfg.kDF = 2;
psb2->setSpringStiffness(10);
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb2->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
btSoftBodyHelpers::generateBoundaryFaces(psb2);
getDeformableDynamicsWorld()->addSoftBody(psb2);
@ -332,6 +334,7 @@ void PinchFriction::initPhysics()
psb3->m_cfg.kCHR = 1; // collision hardness with rigid body
psb3->m_cfg.kDF = 2;
psb3->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb3->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb3->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
btSoftBodyHelpers::generateBoundaryFaces(psb3);
getDeformableDynamicsWorld()->addSoftBody(psb3);

1
examples/DeformableDemo/SplitImpulse.cpp
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@ -167,6 +167,7 @@ void SplitImpulse::initPhysics()
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 0.1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
getDeformableDynamicsWorld()->addSoftBody(psb);
btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(30,1, true);

21
examples/DeformableDemo/VolumetricDeformable.cpp
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@ -27,7 +27,7 @@
#include "../Utils/b3ResourcePath.h"
///The VolumetricDeformable shows the contact between volumetric deformable objects and rigid objects.
static btScalar E = 100;
static btScalar E = 25;
static btScalar nu = 0.3;
static btScalar damping = 0.01;
@ -68,8 +68,8 @@ public:
m_neohookean->setYoungsModulus(E);
m_neohookean->setDamping(damping);
//use a smaller internal timestep, there are stability issues
float internalTimeStep = 1. / 600.f;
m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
float internalTimeStep = 1. / 480.f;
m_dynamicsWorld->stepSimulation(deltaTime, 8, internalTimeStep);
}
void createStaticBox(const btVector3& halfEdge, const btVector3& translation)
@ -100,7 +100,7 @@ public:
void Ctor_RbUpStack(int count)
{
float mass = 1;
float mass = 0.2;
btCompoundShape* cylinderCompound = new btCompoundShape;
btCollisionShape* cylinderShape = new btCylinderShapeX(btVector3(2, .5, .5));
@ -209,11 +209,12 @@ void VolumetricDeformable::initPhysics()
psb->scale(btVector3(2, 2, 2));
psb->translate(btVector3(0, 5, 0));
psb->getCollisionShape()->setMargin(0.25);
psb->setTotalMass(1);
psb->setTotalMass(0.5);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 0.5;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
psb->m_sleepingThreshold = 0;
btSoftBodyHelpers::generateBoundaryFaces(psb);
@ -222,7 +223,7 @@ void VolumetricDeformable::initPhysics()
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(30,100,0.01);
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(500,2000,0.01);
m_neohookean = neohookean;
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
@ -237,21 +238,21 @@ void VolumetricDeformable::initPhysics()
{
SliderParams slider("Young's Modulus", &E);
slider.m_minVal = 0;
slider.m_maxVal = 200;
slider.m_maxVal = 50;
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Poisson Ratio", &nu);
slider.m_minVal = 0.1;
slider.m_maxVal = 0.4;
slider.m_minVal = 0.05;
slider.m_maxVal = 0.40;
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Damping", &damping);
slider.m_minVal = 0.01;
slider.m_maxVal = 0.2;
slider.m_maxVal = 0.02;
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}