Ejemplo n.º 1
0
int main(int argc, char *argv[])
{
  // Problem setup
  Tutorial7 problem; // instantiate an object of class Tutorial 6

  problem.setName("Tutorial7");
  problem.setSystemDimensions(2);
  problem.setGravity(Vec3D(0.0,0.0,0.0));
  problem.setXMax(1);
  problem.setYMax(0.5);
  problem.setTimeMax(5.0);

//! [T7:speciesProp]
  // The normal spring stiffness and normal dissipation is computed and set as 
  // For collision time tc=0.005 and restitution coefficeint rc=1.0, 
  auto species = problem.speciesHandler.copyAndAddObject(LinearViscoelasticSpecies());
  species->setDensity(2500.0); // sets the species type-0 density
  species->setStiffness(258.5);// sets the spring stiffness
  species->setDissipation(0.0);// sets the dissipation
//! [T7:speciesProp]

  problem.setSaveCount(10);
  problem.dataFile.setFileType(FileType::ONE_FILE);
  problem.restartFile.setFileType(FileType::ONE_FILE);
  problem.fStatFile.setFileType(FileType::NO_FILE);
  problem.eneFile.setFileType(FileType::NO_FILE);

  problem.setXBallsAdditionalArguments("-solidf -v0 -s .85");	

  problem.setTimeStep(0.005/50.0);// (collision time)/50.0
  problem.solve(argc, argv);

  return 0;
}
Ejemplo n.º 2
0
void BConstraint::setAllAxisStiffness(float stiffness)
{
	for(int i = 0; i < 6; i++)
		enableSpring(i, stiffness > 0);

	for(int i = 0; i < 6; i++)
		setStiffness(i, stiffness);
}
Ejemplo n.º 3
0
/**
 * Destructor for oru_walk object
 */
oru_walk::~oru_walk()
{
    setStiffness(0.0f);
    // Remove the postProcess call back connection
    stopWalking ("Module destroyed.\n");
    if (solver != NULL)
    {
        delete solver;
        solver = NULL;
    }
}
Ejemplo n.º 4
0
//--------------------------------------------------------------
void ofxBulletSoftBody::add() {
    _bAdded = true;
    _world->getWorld()->addSoftBody(_softBody);
    
    if( _type != OFX_BULLET_TRI_MESH_SHAPE ) {
        setMass(1);
    }
    setStiffness(0.9, 0.9, 0.9);
    
    setSolverIterations(4);
    
//    _softBody->getCollisionShape()->setMargin(getMargin() * 2);
}
Ejemplo n.º 5
0
//! [T1:main]
int main(int argc, char *argv[])
{
  // Problem setup
  Tutorial1 problem;

//! [T1:problemSetup]
  problem.setName("Tutorial1");
  problem.setSystemDimensions(3);
  problem.setGravity(Vec3D(0.0,0.0,0.0));
  problem.setXMax(1.0);
  problem.setYMax(1.0);
  problem.setZMax(1.0);
  problem.setTimeMax(2.0);
//! [T1:problemSetup]

//! [T1:speciesProp]
  // The normal spring stiffness and normal dissipation is computed and set as 
  // For collision time tc=0.005 and restitution coefficeint rc=1.0,
  auto species = problem.speciesHandler.copyAndAddObject(LinearViscoelasticSpecies());
  species->setDensity(2500.0); // sets the species type-0 density
  species->setStiffness(258.5);// sets the spring stiffness
  species->setDissipation(0.0);// sets the dissipation
//! [T1:speciesProp]

//! [T1:output]
  problem.setSaveCount(10);
  problem.dataFile.setFileType(FileType::ONE_FILE);
  problem.restartFile.setFileType(FileType::ONE_FILE);
  problem.fStatFile.setFileType(FileType::NO_FILE);
  problem.eneFile.setFileType(FileType::NO_FILE);
  std::cout << problem.dataFile.getCounter() << std::endl;
//! [T1:output]

//! [T1:visualOutput] 	
  problem.setXBallsAdditionalArguments("-solidf -v0");
//! [T1:visualOutput]

//! [T1:solve]
  problem.setTimeStep(.005/50.0); // (collision time)/50.0
  problem.solve(argc, argv);
//! [T1:solve]
  return 0;
}
// constructor
// anchor, axis1 and axis2 are in world coordinate system
// axis1 must be orthogonal to axis2
btHinge2Constraint::btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
: btGeneric6DofSpringConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
 m_anchor(anchor),
 m_axis1(axis1),
 m_axis2(axis2)
{
	// build frame basis
	// 6DOF constraint uses Euler angles and to define limits
	// it is assumed that rotational order is :
	// Z - first, allowed limits are (-PI,PI);
	// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
	// used to prevent constraint from instability on poles;
	// new position of X, allowed limits are (-PI,PI);
	// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
	// Build the frame in world coordinate system first
	btVector3 zAxis = axis1.normalize();
	btVector3 xAxis = axis2.normalize();
	btVector3 yAxis = zAxis.cross(xAxis); // we want right coordinate system
	btTransform frameInW;
	frameInW.setIdentity();
	frameInW.getBasis().setValue(	xAxis[0], yAxis[0], zAxis[0],
									xAxis[1], yAxis[1], zAxis[1],
									xAxis[2], yAxis[2], zAxis[2]);
	frameInW.setOrigin(anchor);
	// now get constraint frame in local coordinate systems
	m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
	m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
	// sei limits
	setLinearLowerLimit(btVector3(0.f, 0.f, -1.f));
	setLinearUpperLimit(btVector3(0.f, 0.f,  1.f));
	// like front wheels of a car
	setAngularLowerLimit(btVector3(1.f,  0.f, -SIMD_HALF_PI * 0.5f));
	setAngularUpperLimit(btVector3(-1.f, 0.f,  SIMD_HALF_PI * 0.5f));
	// enable suspension
	enableSpring(2, true);
	setStiffness(2, SIMD_PI * SIMD_PI * 4.f); // period 1 sec for 1 kilogramm weel :-)
	setDamping(2, 0.01f);
	setEquilibriumPoint();
}
    void setupInitialConditions()
    {
        auto species = speciesHandler.copyAndAddObject(LinearViscoelasticFrictionSpecies());
        species->setDensity(constants::pi / 6.0);

        double stiffness = 1e5;
        setParticleDimensions(2);
        species->setDensity(2500);
        species->setStiffness(stiffness);
        species->setSlidingStiffness(2.0 / 7.0 * stiffness);
	species->setSlidingFrictionCoefficient(0.5);
        species->setRollingStiffness(2.0 / 5.0 * stiffness);
        species->setRollingFrictionCoefficient(0.5);
        species->setTorsionStiffness(2.0 / 5.0 * stiffness);
        species->setTorsionFrictionCoefficient(0.5);

        setGravity(Vec3D(0.0, 0.0, 0.0));
        setTimeMax(8e-2);
        setTimeStep(2.0e-4);
        setFileType(FileType::NO_FILE);

        setXMin(0.0);
        setYMin(0.0);
        setXMax(1.0);
        setYMax(1.0);

        PeriodicBoundary b0;
        b0.set(Vec3D(1, 0, 0), getXMin(), getXMax());
        boundaryHandler.copyAndAddObject(b0);
        b0.set(Vec3D(0, 1, 0), getYMin(), getYMax());
        boundaryHandler.copyAndAddObject(b0);

        BaseParticle P0, P1, P2, P3, P4, P5, P6, P7;

        //Particle to be removed
        P0.setPosition(Vec3D(0.1, 0.1, 0.0));
        P1.setPosition(Vec3D(0.3, 0.3, 0.0));
        //Contacts starts normal becomes periodic
        P2.setPosition(Vec3D(0.6, 0.041, 0.0));
        P2.setAngularVelocity(Vec3D(0.3, 0.6, 0.9));
        P3.setPosition(Vec3D(0.4, 0.001, 0.0));
        //Normal case
        P4.setPosition(Vec3D(0.6, 0.82, 0.0));
        P4.setAngularVelocity(Vec3D(0.3, 0.6, 0.9));
        P5.setPosition(Vec3D(0.4, 0.78, 0.0));
        //Contact starts periodic becomes normal and periodic again
        P6.setPosition(Vec3D(0.02, 0.42, 0.0));
        P6.setAngularVelocity(Vec3D(0.3, 0.6, 0.9));
        P7.setPosition(Vec3D(0.82, 0.38, 0.0));

        P0.setVelocity(Vec3D(0.0, 0.0, 0.0));
        P1.setVelocity(Vec3D(0.0, 0.0, 0.0));
        P2.setVelocity(Vec3D(-1.0, 0.0, 0.0));
        P3.setVelocity(Vec3D(1.0, 0.0, 0.0));
        P4.setVelocity(Vec3D(-1.0, 0.0, 0.0));
        P5.setVelocity(Vec3D(1.0, 0.0, 0.0));
        P6.setVelocity(Vec3D(-1.0, 0.0, 0.0));
        P7.setVelocity(Vec3D(1.0, 0.0, 0.0));

        P0.setRadius(0.1);
        P1.setRadius(0.1);
        P2.setRadius(0.1);
        P3.setRadius(0.1);
        P4.setRadius(0.1);
        P5.setRadius(0.1);
        P6.setRadius(0.1);
        P7.setRadius(0.1);

        particleHandler.copyAndAddObject(P0);
        particleHandler.copyAndAddObject(P1);
        particleHandler.copyAndAddObject(P2);
        particleHandler.copyAndAddObject(P3);
        particleHandler.copyAndAddObject(P4);
        particleHandler.copyAndAddObject(P5);
        particleHandler.copyAndAddObject(P6);
        particleHandler.copyAndAddObject(P7);
    }