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add benchmark comparison example. change ReduceddMotorGrasp example to the real world dimensions

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This commit is contained in:
jingyuc
2021-11-21 02:11:55 -05:00
parent 0279a5a500
commit 0b641b51d7
6 changed files with 493 additions and 19 deletions
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2
examples/ExampleBrowser/CMakeLists.txt
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@@ -402,6 +402,8 @@ SET(BulletExampleBrowser_SRCS
../ReducedDeformableDemo/ReducedCollide.h
../ReducedDeformableDemo/ReducedGrasp.cpp
../ReducedDeformableDemo/ReducedGrasp.h
../ReducedDeformableDemo/ReducedGraspBenchmark.cpp
../ReducedDeformableDemo/ReducedGraspBenchmark.h
../ReducedDeformableDemo/ReducedPress.cpp
../ReducedDeformableDemo/ReducedPress.h
../ReducedDeformableDemo/ReducedMotorGrasp.cpp

2
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -81,6 +81,7 @@
#include "../ReducedDeformableDemo/ReducedGrasp.h"
#include "../ReducedDeformableDemo/ReducedPress.h"
#include "../ReducedDeformableDemo/ReducedMotorGrasp.h"
#include "../ReducedDeformableDemo/ReducedGraspBenchmark.h"
#include "../InverseKinematics/InverseKinematicsExample.h"
#ifdef B3_ENABLE_TINY_AUDIO
@@ -234,6 +235,7 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Reduced Press", "Press a reduced deformable block against the ground", ReducedPressCreateFunc),
ExampleEntry(1, "Reduced Motor Grasp", "Grasp a reduced deformable block with motor", ReducedMotorGraspCreateFunc),
ExampleEntry(1, "Reduced Friction Slope", "Grasp a reduced deformable block", FrictionSlopeCreateFunc),
ExampleEntry(1, "Reduced Benchmark", "Grasp a reduced deformable block", ReducedGraspBenchmarkCreateFunc),
// ExampleEntry(1, "Simple Reduced Deformable Test", "Simple dynamics test for the reduced deformable objects", ReducedBasicTestCreateFunc),
#ifdef INCLUDE_CLOTH_DEMOS

1
examples/ReducedDeformableDemo/FreeFall.cpp
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@@ -162,6 +162,7 @@ void FreeFall::initPhysics()
rsb->setDamping(damping_alpha, damping_beta);
rsb->setTotalMass(10);
// rsb->scale(btVector3(0.5, 0.5, 0.5));
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
rsb->m_cfg.kCHR = 1; // collision hardness with rigid body

446
examples/ReducedDeformableDemo/ReducedGraspBenchmark.cpp Normal file
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@@ -0,0 +1,446 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2019 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "ReducedGraspBenchmark.h"
///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
#include "btBulletDynamicsCommon.h"
#include "BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h"
#include "BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.h"
#include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include <stdio.h> //printf debugging
#include "../CommonInterfaces/CommonDeformableBodyBase.h"
#include "../Utils/b3ResourcePath.h"
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0001;
static int num_modes = 20;
static bool run_reduced = false;
class ReducedGraspBenchmark : public CommonDeformableBodyBase
{
public:
ReducedGraspBenchmark(struct GUIHelperInterface* helper)
: CommonDeformableBodyBase(helper)
{
}
virtual ~ReducedGraspBenchmark()
{
}
void initPhysics();
void exitPhysics();
void resetCamera()
{
float dist = 10;
float pitch = -10;
float yaw = 90;
float targetPos[3] = {0, 0, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
void stepSimulation(float deltaTime)
{
//use a smaller internal timestep for better stability
float internalTimeStep = 1. / 240.f;
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
}
void createGrip()
{
int count = 2;
float mass = 1e6;
btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 0.25));
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,1,0));
startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
createRigidBody(mass, startTransform, shape);
}
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,1,-4));
startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
createRigidBody(mass, startTransform, shape);
}
}
void Ctor_RbUpStack()
{
float mass = 8;
btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5));
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,9.5,0));
btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
rb1->setLinearVelocity(btVector3(0, 0, 0));
rb1->setFriction(0.7);
}
virtual void renderScene()
{
CommonDeformableBodyBase::renderScene();
btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
{
btSoftBody* psb = static_cast<btSoftBody*>(deformableWorld->getSoftBodyArray()[i]);
{
btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
}
}
}
static void GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world);
};
void ReducedGraspBenchmark::GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
{
btAlignedObjectArray<btRigidBody*>& rbs = world->getNonStaticRigidBodies();
if (rbs.size()<2)
return;
btRigidBody* rb0 = rbs[0];
// btScalar pressTime = 0.9;
// btScalar pressTime = 0.96;
btScalar pressTime = 1.26;
btScalar liftTime = 2.5;
btScalar shiftTime = 6;
btScalar holdTime = 7;
btScalar dropTime = 10;
// btScalar holdTime = 500;
// btScalar dropTime = 1000;
btTransform rbTransform;
rbTransform.setIdentity();
btVector3 translation;
btVector3 velocity;
btVector3 initialTranslationLeft = btVector3(0,1,0); // inner face has z=2
btVector3 initialTranslationRight = btVector3(0,1,-4); // inner face has z=-2
btVector3 pinchVelocityLeft = btVector3(0,0,-1);
btVector3 pinchVelocityRight = btVector3(0,0,1);
btVector3 liftVelocity = btVector3(0,4,0);
btVector3 shiftVelocity = btVector3(0,0,2);
btVector3 holdVelocity = btVector3(0,0,0);
btVector3 openVelocityLeft = btVector3(0,0,4);
btVector3 openVelocityRight = btVector3(0,0,-4);
if (time < pressTime)
{
velocity = pinchVelocityLeft;
translation = initialTranslationLeft + pinchVelocityLeft * time;
}
else if (time < liftTime)
{
velocity = liftVelocity;
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (time - pressTime);
}
else if (time < shiftTime)
{
velocity = shiftVelocity;
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
}
else if (time < holdTime)
{
velocity = btVector3(0,0,0);
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
}
else if (time < dropTime)
{
velocity = openVelocityLeft;
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (time - holdTime);
}
else
{
velocity = holdVelocity;
translation = initialTranslationLeft + pinchVelocityLeft * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityLeft * (dropTime - holdTime);
}
rbTransform.setOrigin(translation);
rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
rb0->setCenterOfMassTransform(rbTransform);
rb0->setAngularVelocity(btVector3(0,0,0));
rb0->setLinearVelocity(velocity);
btRigidBody* rb1 = rbs[1];
if (time < pressTime)
{
velocity = pinchVelocityRight;
translation = initialTranslationRight + pinchVelocityRight * time;
}
else if (time < liftTime)
{
velocity = liftVelocity;
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (time - pressTime);
}
else if (time < shiftTime)
{
velocity = shiftVelocity;
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (time - liftTime);
}
else if (time < holdTime)
{
velocity = btVector3(0,0,0);
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (time - shiftTime);
}
else if (time < dropTime)
{
velocity = openVelocityRight;
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (time - holdTime);
}
else
{
velocity = holdVelocity;
translation = initialTranslationRight + pinchVelocityRight * pressTime + liftVelocity * (liftTime-pressTime) + shiftVelocity * (shiftTime - liftTime) + holdVelocity * (holdTime - shiftTime)+ openVelocityRight * (dropTime - holdTime);
}
rbTransform.setOrigin(translation);
rbTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
rb1->setCenterOfMassTransform(rbTransform);
rb1->setAngularVelocity(btVector3(0,0,0));
rb1->setLinearVelocity(velocity);
rb0->setFriction(20);
rb1->setFriction(20);
}
void ReducedGraspBenchmark::initPhysics()
{
m_guiHelper->setUpAxis(1);
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
if (run_reduced)
{
btReducedSoftBodySolver* solver = new btReducedSoftBodySolver();
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(solver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
}
else
{
btDeformableBodySolver* solver = new btDeformableBodySolver();
btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
sol->setDeformableSolver(solver);
m_solver = sol;
m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
}
// btDeformableBodySolver* solver = new btDeformableBodySolver();
// btReducedSoftBodySolver* solver = new btReducedSoftBodySolver();
// btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
// sol->setDeformableSolver(solver);
// m_solver = sol;
// m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, solver);
btVector3 gravity = btVector3(0, -10, 0);
m_dynamicsWorld->setGravity(gravity);
getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
getDeformableDynamicsWorld()->setSolverCallback(GripperDynamics);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
// create volumetric reduced deformable body
if (run_reduced)
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.015);
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 1, -2));
// init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
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;
rsb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
rsb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
rsb->m_sleepingThreshold = 0;
btSoftBodyHelpers::generateBoundaryFaces(rsb);
std::cout << "Running reduced deformable\n";
}
else // create full deformable cube
{
std::string filepath("../../../data/reduced_cube/");
std::string filename = filepath + "cube_mesh.vtk";
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), filename.c_str());
// psb->scale(btVector3(2, 2, 2));
psb->translate(btVector3(0, 1, -2));
psb->getCollisionShape()->setMargin(0.015);
psb->setTotalMass(10);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = .5;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
getDeformableDynamicsWorld()->addSoftBody(psb);
btSoftBodyHelpers::generateBoundaryFaces(psb);
btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
getDeformableDynamicsWorld()->addForce(psb, gravity_force);
m_forces.push_back(gravity_force);
btScalar E = 10000;
btScalar nu = 0.3;
btScalar lambda = E * nu / ((1 + nu) * (1 - 2 * nu));
btScalar mu = E / (2 * (1 + nu));
btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(lambda, mu, 0.02);
// neohookean->setPoissonRatio(0.3);
// neohookean->setYoungsModulus(25);
neohookean->setDamping(0.01);
psb->m_cfg.drag = 0.001;
getDeformableDynamicsWorld()->addForce(psb, neohookean);
m_forces.push_back(neohookean);
std::cout << "Running full deformable\n";
}
getDeformableDynamicsWorld()->setImplicit(false);
getDeformableDynamicsWorld()->setLineSearch(false);
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_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = false;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
// grippers
createGrip();
// rigid block
// Ctor_RbUpStack();
// {
// float mass = 10;
// btCollisionShape* shape = new btBoxShape(btVector3(0.25, 2, 0.5));
// btTransform startTransform;
// startTransform.setIdentity();
// startTransform.setOrigin(btVector3(0,4,0));
// btRigidBody* rb1 = createRigidBody(mass, startTransform, shape);
// rb1->setLinearVelocity(btVector3(0, 0, 0));
// }
//create a ground
{
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(25.), btScalar(150.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, -25, 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.);
//rigidbody is dynamic if and only if mass is non zero, otherwise static
bool isDynamic = (mass != 0.f);
btVector3 localInertia(0, 0, 0);
if (isDynamic)
groundShape->calculateLocalInertia(mass, localInertia);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
body->setFriction(0.5);
//add the ground to the dynamics world
m_dynamicsWorld->addRigidBody(body);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void ReducedGraspBenchmark::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
removePickingConstraint();
//remove the rigidbodies from the dynamics world and delete them
int i;
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
{
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(obj);
if (body && body->getMotionState())
{
delete body->getMotionState();
}
m_dynamicsWorld->removeCollisionObject(obj);
delete obj;
}
// delete forces
for (int j = 0; j < m_forces.size(); j++)
{
btDeformableLagrangianForce* force = m_forces[j];
delete force;
}
m_forces.clear();
//delete collision shapes
for (int j = 0; j < m_collisionShapes.size(); j++)
{
btCollisionShape* shape = m_collisionShapes[j];
delete shape;
}
m_collisionShapes.clear();
delete m_dynamicsWorld;
delete m_solver;
delete m_broadphase;
delete m_dispatcher;
delete m_collisionConfiguration;
}
class CommonExampleInterface* ReducedGraspBenchmarkCreateFunc(struct CommonExampleOptions& options)
{
return new ReducedGraspBenchmark(options.m_guiHelper);
}

19
examples/ReducedDeformableDemo/ReducedGraspBenchmark.h Normal file
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@@ -0,0 +1,19 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2019 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef _REDUCED_GRASP_BENCHMARK_H
#define _REDUCED_GRASP_BENCHMARK_H
class CommonExampleInterface* ReducedGraspBenchmarkCreateFunc(struct CommonExampleOptions& options);
#endif //_REDUCED_GRASP_BENCHMARK_H

42
examples/ReducedDeformableDemo/ReducedMotorGrasp.cpp
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@@ -93,9 +93,9 @@ public:
// float pitch = -45;
// float yaw = 100;
// float targetPos[3] = {0, -0.1, 0};
float dist = 8;
float pitch = -20;
float yaw = 100;
float dist = 0.4;
float pitch = -25;
float yaw = 90;
float targetPos[3] = {0, 0, 0};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
@@ -125,14 +125,14 @@ public:
if (dofIndex == 6)
{
motor->setVelocityTarget(-fingerTargetVelocities[1], 1);
motor->setMaxAppliedImpulse(100);
motor->setMaxAppliedImpulse(10);
}
if (dofIndex == 7)
{
motor->setVelocityTarget(fingerTargetVelocities[1], 1);
motor->setMaxAppliedImpulse(100);
motor->setMaxAppliedImpulse(10);
}
motor->setMaxAppliedImpulse(200);
motor->setMaxAppliedImpulse(25);
}
}
dofIndex += mb->getLink(link).m_dofCount;
@@ -186,11 +186,11 @@ public:
btSoftBodyHelpers::DrawFrame(rsb, deformableWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(rsb, deformableWorld->getDebugDrawer(), fDrawFlags::Faces);// deformableWorld->getDrawFlags());
}
for (int p = 0; p < rsb->m_contactNodesList.size(); ++p)
{
int index = rsb->m_contactNodesList[p];
deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[index].m_x, 0.2, btVector3(0, 1, 0));
}
// for (int p = 0; p < rsb->m_contactNodesList.size(); ++p)
// {
// int index = rsb->m_contactNodesList[p];
// deformableWorld->getDebugDrawer()->drawSphere(rsb->m_nodes[index].m_x, 0.2, btVector3(0, 1, 0));
// }
}
}
@@ -241,10 +241,11 @@ void ReducedMotorGrasp::initPhysics()
int numLinks = 2;
// btVector3 linkHalfExtents(0.02, 0.018, .003);
// btVector3 baseHalfExtents(0.02, 0.002, .002);
btVector3 linkHalfExtents(1, 1, 0.15);
btVector3 baseHalfExtents(0.5, 0.35, 0.35);
btVector3 linkHalfExtents(0.03, 0.04, 0.006);
btVector3 baseHalfExtents(0.02, 0.015, 0.015);
btVector3 basePosition(0, 0.3, 0);
// btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 0.05f,0.f), baseHalfExtents, linkHalfExtents, false);
btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 5.f,0.f), baseHalfExtents, linkHalfExtents, false);
btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), basePosition, baseHalfExtents, linkHalfExtents, false);
mbC->setCanSleep(canSleep);
mbC->setHasSelfCollision(selfCollide);
@@ -316,19 +317,22 @@ void ReducedMotorGrasp::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedTorus(getDeformableDynamicsWorld()->getWorldInfo(), num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.01);
rsb->getCollisionShape()->setMargin(0.001);
btTransform init_transform;
init_transform.setIdentity();
init_transform.setOrigin(btVector3(0, 0.5, 0));
init_transform.setOrigin(btVector3(0, 0.1, 0));
// init_transform.setRotation(btQuaternion(SIMD_PI / 2.0, 0, SIMD_PI / 2.0));
rsb->transform(init_transform);
rsb->setStiffnessScale(100);
rsb->setDamping(damping_alpha, damping_beta);
rsb->scale(btVector3(0.075, 0.075, 0.075)); // roughly about 10cm x 10cm x 10cm
rsb->setTotalMass(1); // about 200 gram
// rsb->setRigidVelocity(btVector3(0, 1, 0));
@@ -359,8 +363,8 @@ void ReducedMotorGrasp::initPhysics()
SliderParams slider("Moving velocity", &sGripperVerticalVelocity);
// slider.m_minVal = -.02;
// slider.m_maxVal = .02;
slider.m_minVal = -.5;
slider.m_maxVal = .5;
slider.m_minVal = -.2;
slider.m_maxVal = .2;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}