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grasping cube set up

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This commit is contained in:
jingyuc
2021-09-13 23:05:21 -04:00
parent 593f387a06
commit 19375d6569
1 changed files with 16 additions and 16 deletions
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32
examples/ReducedDeformableDemo/ReducedGrasp.cpp
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@@ -30,10 +30,10 @@
// static btScalar E = 50;
// static btScalar nu = 0.3;
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.01;
static btScalar damping_beta = 0.001;
static btScalar COLLIDING_VELOCITY = 4;
static int start_mode = 6;
static int num_modes = 10;
static int num_modes = 20;
class ReducedGrasp : public CommonDeformableBodyBase
{
@@ -51,14 +51,14 @@ public:
void resetCamera()
{
float dist = 15;
float dist = 10;
float pitch = -10;
float yaw = 90;
// float dist = 25;
// float pitch = -30;
// float yaw = 100;
float targetPos[3] = {0, -0, 0};
float targetPos[3] = {0, 0, 1};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
}
@@ -75,18 +75,18 @@ public:
{
int count = 2;
float mass = 1e6;
btCollisionShape* shape = new btBoxShape(btVector3(3, 4, 0.5));
btCollisionShape* shape = new btBoxShape(btVector3(1, 1, 0.25));
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,4,3));
startTransform.setOrigin(btVector3(0,1,2));
startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
createRigidBody(mass, startTransform, shape);
}
{
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,4,-3));
startTransform.setOrigin(btVector3(0,1,-2));
startTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0.));
createRigidBody(mass, startTransform, shape);
}
@@ -137,7 +137,7 @@ void ReducedGrasp::GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsW
btRigidBody* rb0 = rbs[0];
// btScalar pressTime = 0.9;
// btScalar pressTime = 0.96;
btScalar pressTime = 1;
btScalar pressTime = 1.25;
btScalar liftTime = 2.5;
btScalar shiftTime = 3.5;
btScalar holdTime = 4.5;
@@ -147,12 +147,12 @@ void ReducedGrasp::GripperDynamics(btScalar time, btDeformableMultiBodyDynamicsW
btVector3 translation;
btVector3 velocity;
btVector3 initialTranslationLeft = btVector3(0,4,3); // inner face has z=2
btVector3 initialTranslationRight = btVector3(0,4,-3); // inner face has z=-2
btVector3 pinchVelocityLeft = btVector3(0,0,-2);
btVector3 pinchVelocityRight = btVector3(0,0,2);
btVector3 liftVelocity = btVector3(0,5,0);
btVector3 shiftVelocity = btVector3(0,0,5);
btVector3 initialTranslationLeft = btVector3(0,1,2); // inner face has z=2
btVector3 initialTranslationRight = btVector3(0,1,-2); // 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);
@@ -274,7 +274,7 @@ void ReducedGrasp::initPhysics()
// create volumetric reduced deformable body
{
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedBeam(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
btReducedSoftBody* rsb = btReducedSoftBodyHelpers::createReducedCube(getDeformableDynamicsWorld()->getWorldInfo(), start_mode, num_modes);
getDeformableDynamicsWorld()->addSoftBody(rsb);
rsb->getCollisionShape()->setMargin(0.015);
@@ -286,7 +286,7 @@ void ReducedGrasp::initPhysics()
// init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
rsb->transform(init_transform);
rsb->setStiffnessScale(200);
rsb->setStiffnessScale(25);
rsb->setDamping(damping_alpha, damping_beta);
rsb->m_cfg.kKHR = 1; // collision hardness with kinematic objects