Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-09-18 00:04:29 +00:00
Code Issues Packages Projects Releases Wiki Activity

allow for larger range of stiffness values in implicit demos

Browse Source
This commit is contained in:
Xuchen Han
2020-06-19 14:51:31 -07:00
parent 3fd743a069
commit 43d256633e
2 changed files with 58 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files

82
examples/DeformableDemo/LargeDeformation.cpp
View File

@@ -27,9 +27,9 @@
#include "../Utils/b3ResourcePath.h"
///The LargeDeformation shows the contact between volumetric deformable objects and rigid objects.
static btScalar E = 25;
static btScalar E = 50;
static btScalar nu = 0.3;
static btScalar damping_alpha = 0.01;
static btScalar damping_alpha = 0.1;
static btScalar damping_beta = 0.01;
struct TetraCube
@@ -119,7 +119,7 @@ void LargeDeformation::initPhysics()
psb->scale(btVector3(2, 2, 2));
psb->translate(btVector3(0, 5, 0));
psb->getCollisionShape()->setMargin(0.1);
psb->setTotalMass(0.1);
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;
@@ -150,34 +150,62 @@ void LargeDeformation::initPhysics()
// add a few rigid bodies
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
{
SliderParams slider("Young's Modulus", &E);
slider.m_minVal = 0;
slider.m_maxVal = 200;
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Poisson Ratio", &nu);
slider.m_minVal = 0.05;
slider.m_maxVal = 0.40;
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Mass Damping", &damping_alpha);
slider.m_minVal = 0.001;
slider.m_maxVal = 0.01;
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Stiffness Damping", &damping_beta);
slider.m_minVal = 0.001;
slider.m_maxVal = 0.01;
SliderParams slider("Young's Modulus", &E);
slider.m_minVal = 0;
slider.m_maxVal = 2000;
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Poisson Ratio", &nu);
slider.m_minVal = 0.05;
slider.m_maxVal = 0.49;
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Mass Damping", &damping_alpha);
slider.m_minVal = 0;
slider.m_maxVal = 1;
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Stiffness Damping", &damping_beta);
slider.m_minVal = 0;
slider.m_maxVal = 0.1;
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
// {
// SliderParams slider("Young's Modulus", &E);
// slider.m_minVal = 0;
// slider.m_maxVal = 200;
// if (m_guiHelper->getParameterInterface())
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
// }
// {
// SliderParams slider("Poisson Ratio", &nu);
// slider.m_minVal = 0.05;
// slider.m_maxVal = 0.40;
// if (m_guiHelper->getParameterInterface())
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
// }
// {
// SliderParams slider("Mass Damping", &damping_alpha);
// slider.m_minVal = 0.001;
// slider.m_maxVal = 0.01;
// if (m_guiHelper->getParameterInterface())
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
// }
// {
// SliderParams slider("Stiffness Damping", &damping_beta);
// slider.m_minVal = 0.001;
// slider.m_maxVal = 0.01;
// if (m_guiHelper->getParameterInterface())
// m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
// }
}
void LargeDeformation::exitPhysics()

6
examples/DeformableDemo/VolumetricDeformable.cpp
View File

@@ -230,8 +230,8 @@ void VolumetricDeformable::initPhysics()
getDeformableDynamicsWorld()->setImplicit(true);
getDeformableDynamicsWorld()->setLineSearch(false);
getDeformableDynamicsWorld()->setUseProjection(true);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.1;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(20);
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.3;
getDeformableDynamicsWorld()->getSolverInfo().m_deformable_maxErrorReduction = btScalar(200);
getDeformableDynamicsWorld()->getSolverInfo().m_leastSquaresResidualThreshold = 1e-3;
getDeformableDynamicsWorld()->getSolverInfo().m_splitImpulse = true;
getDeformableDynamicsWorld()->getSolverInfo().m_numIterations = 100;
@@ -242,7 +242,7 @@ void VolumetricDeformable::initPhysics()
{
SliderParams slider("Young's Modulus", &E);
slider.m_minVal = 0;
slider.m_maxVal = 200;
slider.m_maxVal = 2000;
if (m_guiHelper->getParameterInterface())
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}