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reduced deformable cube free fall example is now working in pybullet

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This commit is contained in:
jingyuc
2021-11-02 01:12:09 -04:00
parent d7fb9e8a92
commit 0a6f278663
6 changed files with 43 additions and 19 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+8 -10
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@@ -9503,7 +9503,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfDeformabl
out_found_sim_filename = out_found_filename;
}
std::cout << "out_sim_type: " << out_sim_type << "\n";
if (out_sim_type == UrdfGeometry::FILE_OBJ)
{
// std::vector<tinyobj::shape_t> shapes;
@@ -9580,7 +9579,8 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfDeformabl
}
// load modes, reduced stiffness matrix
rsb->setReducedModes(6, 1, rsb->m_nodes.size());
rsb->setReducedModes(6, 20, rsb->m_nodes.size()); // TODO: add modes info to URDF
rsb->setStiffnessScale(100);
btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(rsb, pathPrefix);
// btScalar corotated_mu(0.), corotated_lambda(0.);
@@ -9616,7 +9616,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfDeformabl
}
#endif
}
std::cout << "finished here\n";
b3ImportMeshData meshData;
if (rsb != NULL)
@@ -9708,7 +9707,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfDeformabl
{
rsb->m_renderNodes.resize(0);
}
std::cout << "checkpoint 1\n";
#endif
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
@@ -9734,12 +9732,12 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfDeformabl
// turn on the collision flag for deformable
// collision between deformable and rigid
rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
/// turn on node contact for rigid body
rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
// turn on face contact for multibodies
rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
/// turn on face contact for rigid body
rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
// rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
// collion between deformable and deformable and self-collision
rsb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
// rsb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
rsb->setCollisionFlags(0);
rsb->setTotalMass(deformable.m_mass);
rsb->setSelfCollision(useSelfCollision);
@@ -9748,7 +9746,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfDeformabl
rsb->setCacheBarycenter(deformable.m_cache_barycenter);
rsb->initializeFaceTree();
}
std::cout << "checkpoint 2\n";
#endif //SKIP_DEFORMABLE_BODY
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
@@ -9780,6 +9777,8 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfDeformabl
if (deformWorld)
{
deformWorld->addSoftBody(rsb);
deformWorld->getSolverInfo().m_deformable_erp = 0.2;
deformWorld->getSolverInfo().m_deformable_cfm = 0.2;
}
else
#endif //SKIP_DEFORMABLE_BODY
@@ -9790,7 +9789,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfDeformabl
softWorld->addSoftBody(rsb);
}
}
std::cout << "get here!!!\n";
*bodyUniqueId = m_data->m_bodyHandles.allocHandle();
std::cout << "bodyUniqueId: " << *bodyUniqueId;