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;
}
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);
}
/**
* 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;
}
}
//--------------------------------------------------------------
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);
}
//! [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);
}
