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no longer need to use start_modes, because all the rigid modes are not saved in .bin files in the preprocessor

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jingyuc
2021-11-16 21:05:48 -05:00
parent 2d08d4047a
commit 007eea15cb
15 changed files with 30 additions and 41 deletions
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4
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -248,7 +248,6 @@ struct UrdfDeformable
struct UrdfReducedDeformable
{
std::string m_name;
int m_startMode;
int m_numModes;
double m_mass;
@@ -264,8 +263,7 @@ struct UrdfReducedDeformable
btHashMap<btHashString, std::string> m_userData;
UrdfReducedDeformable()
: m_startMode(6), // for most of cases, the first 6 modes (rigid modes) are ignored
m_numModes(1),
: m_numModes(1),
m_erp(0.2), // generally, 0.2 is a good value for erp and cfm
m_cfm(0.2),
m_friction(0),

2
examples/ReducedDeformableDemo/ConservationTest.cpp
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@@ -216,7 +216,7 @@ void ConservationTest::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);

17
examples/ReducedDeformableDemo/FreeFall.cpp
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@@ -32,7 +32,6 @@
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.00001;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 20;
class FreeFall : public CommonDeformableBodyBase
@@ -109,10 +108,10 @@ public:
// {
// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_fixedNodes[p]].m_x, 0.2, btVector3(1, 0, 0));
// }
for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
{
deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
}
// for (int p = 0; p < rsb->m_nodeRigidContacts.size(); ++p)
// {
// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[rsb->m_contactNodesList[p]].m_x, 0.2, btVector3(0, 1, 0));
// }
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 0, 0), 0.1, btVector3(1, 1, 1));
// deformableWorld->getDebugDrawer()->drawSphere(btVector3(0, 5, 0), 0.1, btVector3(1, 1, 1));
@@ -147,7 +146,7 @@ void FreeFall::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);
@@ -162,6 +161,8 @@ void FreeFall::initPhysics()
rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta);
rsb->setTotalMass(10);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body
rsb->m_cfg.kDF = 0;
@@ -175,7 +176,7 @@ void FreeFall::initPhysics()
// rsb->setRigidAngularVelocity(btVector3(1, 0, 0));
}
// add a few rigid bodies
Ctor_RbUpStack();
// Ctor_RbUpStack();
// create a static rigid box as the ground
{
// btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
@@ -264,7 +265,7 @@ void FreeFall::initPhysics()
getDeformableDynamicsWorld()->setUseProjection(false);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_cfm = 0.2;
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 1;
getDeformableDynamicsWorld()->getSolverInfo().m_friction = 0.5;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-6;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;

3
examples/ReducedDeformableDemo/FrictionSlope.cpp
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@@ -32,7 +32,6 @@
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.001;
static btScalar COLLIDING_VELOCITY = 0;
static int start_mode = 6;
static int num_modes = 20;
class FrictionSlope : public CommonDeformableBodyBase
@@ -188,7 +187,7 @@ void FrictionSlope::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);

3
examples/ReducedDeformableDemo/ModeVisualizer.cpp
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@@ -27,7 +27,6 @@
#include "../Utils/b3ResourcePath.h"
static int start_mode = 6;
static int num_modes = 20;
static btScalar visualize_mode = 0;
static btScalar frequency_scale = 1;
@@ -136,7 +135,7 @@ void ModeVisualizer::initPhysics()
// create volumetric soft body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);

3
examples/ReducedDeformableDemo/ReducedCollide.cpp
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@@ -32,7 +32,6 @@
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0;
static btScalar COLLIDING_VELOCITY = 4;
static int start_mode = 6;
static int num_modes = 20;
class ReducedCollide : public CommonDeformableBodyBase
@@ -205,7 +204,7 @@ void ReducedCollide::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);

3
examples/ReducedDeformableDemo/ReducedGrasp.cpp
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@@ -31,7 +31,6 @@
// static btScalar nu = 0.3;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0001;
static int start_mode = 6;
static int num_modes = 20;
class ReducedGrasp : public CommonDeformableBodyBase
@@ -279,7 +278,7 @@ void ReducedGrasp::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.015);

3
examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp
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@@ -40,7 +40,6 @@ static btScalar sGripperVerticalVelocity = 0.f;
static btScalar sGripperClosingTargetVelocity = 0.f;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0001;
static int start_mode = 6;
static int num_modes = 20;
static float friction = 1.;
struct TetraCube
@@ -317,7 +316,7 @@ void ReducedMotorGrasp::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);

3
examples/ReducedDeformableDemo/ReducedPress.cpp
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@@ -29,7 +29,6 @@
///The BasicTest shows the contact between volumetric deformable objects and rigid objects.
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0;
static int start_mode = 6;
static int num_modes = 20;
class ReducedPress : public CommonDeformableBodyBase
@@ -189,7 +188,7 @@ void ReducedPress::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.015);

3
examples/ReducedDeformableDemo/Springboard.cpp
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@@ -28,7 +28,6 @@
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0001;
static int start_mode = 6;
static int num_modes = 20;
class Springboard : public CommonDeformableBodyBase
@@ -142,7 +141,7 @@ void Springboard::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.1);

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9521,7 +9521,7 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
}
// load modes, reduced stiffness matrix
rsb->setReducedModes(reduced_deformable.m_startMode, reduced_deformable.m_numModes, rsb->m_nodes.size());
rsb->setReducedModes(reduced_deformable.m_numModes, rsb->m_nodes.size());
rsb->setStiffnessScale(reduced_deformable.m_stiffnessScale);
rsb->setDamping(0, reduced_deformable.m_damping); // damping alpha is set to 0 by default
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, pathPrefix);

4
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
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@@ -12,7 +12,6 @@ btReducedSoftBody::btReducedSoftBody(btSoftBodyWorldInfo* worldInfo, int node_co
// reduced deformable
m_reducedModel = true;
m_startMode = 0;
m_nReduced = 0;
m_nFull = 0;
@@ -43,9 +42,8 @@ btReducedSoftBody::btReducedSoftBody(btSoftBodyWorldInfo* worldInfo, int node_co
m_rigidTransformWorld.setIdentity();
}
void btReducedSoftBody::setReducedModes(int start_mode, int num_modes, int full_size)
void btReducedSoftBody::setReducedModes(int num_modes, int full_size)
{
m_startMode = start_mode;
m_nReduced = num_modes;
m_nFull = full_size;
m_reducedDofs.resize(m_nReduced, 0);

3
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
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@@ -71,7 +71,6 @@ class btReducedSoftBody : public btSoftBody
//
// reduced space
int m_startMode;
int m_nReduced;
int m_nFull;
tDenseMatrix m_modes; // modes of the reduced deformable model. Each inner array is a mode, outer array size = n_modes
@@ -105,7 +104,7 @@ class btReducedSoftBody : public btSoftBody
//
void internalInitialization();
void setReducedModes(int start_mode, int num_modes, int full_size);
void setReducedModes(int num_modes, int full_size);
void setMassProps(const tDenseArray& mass_array);

12
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.cpp
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@@ -4,39 +4,39 @@
#include <string>
#include <sstream>
btReducedSoftBody* btReducedSoftBodyHelpers::createReducedBeam(btSoftBodyWorldInfo& worldInfo, const int start_mode, const int num_modes)
btReducedSoftBody* btReducedSoftBodyHelpers::createReducedBeam(btSoftBodyWorldInfo& worldInfo, const int num_modes)
{
std::string filepath("../../../examples/SoftDemo/beam/");
std::string filename = filepath + "mesh.vtk";
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
rsb->setReducedModes(num_modes, rsb->m_nodes.size());
btVector3 half_extents(0.5, 0.25, 2);
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str(), half_extents);
return rsb;
}
btReducedSoftBody* btReducedSoftBodyHelpers::createReducedCube(btSoftBodyWorldInfo& worldInfo, const int start_mode, const int num_modes)
btReducedSoftBody* btReducedSoftBodyHelpers::createReducedCube(btSoftBodyWorldInfo& worldInfo, const int num_modes)
{
std::string filepath("../../../examples/SoftDemo/cube/");
std::string filename = filepath + "mesh.vtk";
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
rsb->setReducedModes(num_modes, rsb->m_nodes.size());
btVector3 half_extents(0.5, 0.5, 0.5);
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str(), half_extents);
return rsb;
}
btReducedSoftBody* btReducedSoftBodyHelpers::createReducedSponge(btSoftBodyWorldInfo& worldInfo, const int start_mode, const int num_modes)
btReducedSoftBody* btReducedSoftBodyHelpers::createReducedSponge(btSoftBodyWorldInfo& worldInfo, const int num_modes)
{
std::string filepath("../../../examples/SoftDemo/sponge/");
std::string filename = filepath + "mesh.vtk";
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createFromVtkFile(worldInfo, filename.c_str());
rsb->setReducedModes(start_mode, num_modes, rsb->m_nodes.size());
rsb->setReducedModes(num_modes, rsb->m_nodes.size());
btVector3 half_extents(0.025, 0.025, 0.025); //TODO: fix
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, filepath.c_str(), half_extents);

6
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h
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@@ -6,11 +6,11 @@
struct btReducedSoftBodyHelpers
{
// create a beam
static btReducedSoftBody* createReducedBeam(btSoftBodyWorldInfo& worldInfo, const int start_mode, const int num_modes);
static btReducedSoftBody* createReducedBeam(btSoftBodyWorldInfo& worldInfo, const int num_modes);
// create a cube
static btReducedSoftBody* createReducedCube(btSoftBodyWorldInfo& worldInfo, const int start_mode, const int num_modes);
static btReducedSoftBody* createReducedCube(btSoftBodyWorldInfo& worldInfo, const int num_modes);
// create a sponge (small rectangular cuboid)
static btReducedSoftBody* createReducedSponge(btSoftBodyWorldInfo& worldInfo, const int start_mode, const int num_modes);
static btReducedSoftBody* createReducedSponge(btSoftBodyWorldInfo& worldInfo, const int num_modes);
// read in geometry info from Vtk file
static btReducedSoftBody* createFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file);