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An contact smoothing radius #93

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Feb 11, 2022
Merged

An contact smoothing radius #93

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8a3b2a5
collisionSmoothingRadius is set to 0.001 + adapt supportPoint computa…
AndreaNeumayr Feb 10, 2022
484bd59
update finalStates
AndreaNeumayr Feb 10, 2022
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63 changes: 38 additions & 25 deletions src/Shapes/boundingBoxes.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -21,16 +21,16 @@ that is the most extreme in direction of unit vector `e`.
r_abs + R_abs'*supportPoint_abs_Box(shape, R_abs*e, collisionSmoothingRadius) + e*collisionSmoothingRadius
#
@inline supportPoint_Cylinder( shape::Cylinder, r_abs::SVector{3,T}, R_abs::SMatrix{3,3,T,9}, e::SVector{3,T}, collisionSmoothingRadius::T) where {T} =
r_abs + R_abs'*supportPoint_abs_Cylinder(shape, R_abs*e) + e*collisionSmoothingRadius
r_abs + R_abs'*supportPoint_abs_Cylinder(shape, R_abs*e, collisionSmoothingRadius) + e*collisionSmoothingRadius

@inline supportPoint_Cone(shape::Cone, r_abs::SVector{3,T}, R_abs::SMatrix{3,3,T,9}, e::SVector{3,T}, collisionSmoothingRadius::T) where {T} =
r_abs + R_abs'*supportPoint_abs_Cone(shape, R_abs*e) + e*collisionSmoothingRadius
r_abs + R_abs'*supportPoint_abs_Cone(shape, R_abs*e, collisionSmoothingRadius) + e*collisionSmoothingRadius

@inline supportPoint_Capsule(shape::Capsule, r_abs::SVector{3,T}, R_abs::SMatrix{3,3,T,9}, e::SVector{3,T}) where {T} =
r_abs + R_abs'*supportPoint_abs_Capsule(shape, R_abs*e)

@inline supportPoint_Beam(shape::Beam, r_abs::SVector{3,T}, R_abs::SMatrix{3,3,T,9}, e::SVector{3,T}, collisionSmoothingRadius::T) where {T} =
r_abs + R_abs'*supportPoint_abs_Beam(shape, R_abs*e) + e*collisionSmoothingRadius
r_abs + R_abs'*supportPoint_abs_Beam(shape, R_abs*e, collisionSmoothingRadius) + e*collisionSmoothingRadius

@inline supportPoint_Sphere(shape::Sphere, r_abs::SVector{3,T}, R_abs::SMatrix{3,3,T,9}, e::SVector{3,T}) where {T} =
r_abs + (shape.diameter/2)*e
Expand Down Expand Up @@ -61,21 +61,21 @@ end
# [Gino v.d. Bergen, p. 135]
@inline function supportPoint_abs_Box(shape::Box, e_abs::SVector{3,T}, collisionSmoothingRadius::T) where {T}
@inbounds begin
halfLengthX = T(0.5*shape.lengthX)
halfLengthY = T(0.5*shape.lengthY)
halfLengthZ = T(0.5*shape.lengthZ)
halfLengthX = T(0.5*shape.lengthX) - collisionSmoothingRadius
halfLengthY = T(0.5*shape.lengthY) - collisionSmoothingRadius
halfLengthZ = T(0.5*shape.lengthZ) - collisionSmoothingRadius
return SVector{3,T}(
Basics.sign_eps(e_abs[1])*(halfLengthX-collisionSmoothingRadius),
Basics.sign_eps(e_abs[2])*(halfLengthY-collisionSmoothingRadius),
Basics.sign_eps(e_abs[3])*(halfLengthZ-collisionSmoothingRadius) )
Basics.sign_eps(e_abs[1])*(halfLengthX),
Basics.sign_eps(e_abs[2])*(halfLengthY),
Basics.sign_eps(e_abs[3])*(halfLengthZ) )
end
end

# [Gino v.d. Bergen, p. 136, XenoCollide, p. 168, 169]
@inline function supportPoint_abs_Cylinder(shape::Cylinder, e_abs::SVector{3,T}) where {T}
@inline function supportPoint_abs_Cylinder(shape::Cylinder, e_abs::SVector{3,T}, collisionSmoothingRadius::T) where {T}
@inbounds begin
halfLength = T(0.5*shape.length)
halfDiameter = T(0.5*shape.diameter)
halfLength = T(0.5*shape.length) - collisionSmoothingRadius
halfDiameter = T(0.5*shape.diameter) - collisionSmoothingRadius
if shape.axis == 1
enorm = norm(SVector(e_abs[2], e_abs[3]))
if enorm <= Modia3D.nepsType(T)
Expand Down Expand Up @@ -118,17 +118,30 @@ end

# for cone: [Gino v.d. Bergen, p. 136]]
# for frustum of a cone: A. Neumayr, G. Hippmann
@inline function supportPoint_abs_Cone(shape::Cone, e_abs::SVector{3,T}) where {T}
@inline function supportPoint_abs_Cone(shape::Cone, e_abs::SVector{3,T}, collisionSmoothingRadius::T) where {T}
@inbounds begin
baseRadius = T(0.5*shape.diameter)
rightCone = T(shape.topDiameter) == T(0.0)
shapeLength = T(shape.length)
R = T(0.5*shape.diameter)
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Please do not use single character variable names.

H = T(shape.length)
r = collisionSmoothingRadius

Rright = (R*H-R*r-r*sqrt(H^2 + R^2))/H
Hright = Rright/(R/H)

if rightCone
baseRadius = Rright
shapeLength = Hright
sin_phi = T(baseRadius/sqrt(baseRadius^2 + shapeLength^2)) # sin of base angle
else
topRadius = T(0.5*shape.topDiameter)
diffRadius = T(baseRadius - topRadius)
sin_phi = T(diffRadius/sqrt(diffRadius^2 + shapeLength^2)) # sin of base angle
Rt = T(0.5*shape.topDiameter)
Hcone = H - 2*r
diffRadius = R - Rt
Rcone = diffRadius*Hcone/H
topRadius = Rt - Rright + Rcone
@assert(topRadius > 0.0)
shapeLength = Hcone
baseRadius = topRadius + Rcone
sin_phi = T(Rcone/sqrt(Rcone^2 + shapeLength^2)) # sin of base angle
end
if shape.axis == 1
value = e_abs[1] / norm(SVector(e_abs[1], e_abs[2], e_abs[3]))
Expand Down Expand Up @@ -198,11 +211,11 @@ end
end

# G. Hippmann: Outer half circles of beam
@inline function supportPoint_abs_Beam(shape::Beam, e_abs::SVector{3,T}) where {T}
@inline function supportPoint_abs_Beam(shape::Beam, e_abs::SVector{3,T}, collisionSmoothingRadius::T) where {T}
@inbounds begin
halfLength = T(0.5*shape.length)
halfWidth = T(0.5*shape.width)
halfThickness = T(0.5*shape.thickness)
halfLength = T(0.5*shape.length) - collisionSmoothingRadius
halfWidth = T(0.5*shape.width) - collisionSmoothingRadius
halfThickness = T(0.5*shape.thickness) - collisionSmoothingRadius
if shape.axis == 1
enorm = norm(SVector(e_abs[1], e_abs[2]))
if enorm <= Modia3D.nepsType(T)
Expand Down Expand Up @@ -266,16 +279,16 @@ Returns the *Axis Aligned Bounding Box* of solid `shape` in argument `AABB`.
r_absi + R_absi'*supportPoint_abs_Box(shape, isign*R_absi, collisionSmoothingRadius) + isign*collisionSmoothingRadius

@inline supportPoint_i_Cylinder(shape::Cylinder{F}, r_absi::F, R_absi::SVector{3,F}, isign::Int, collisionSmoothingRadius) where F <: Modia3D.VarFloatType =
r_absi + R_absi'*supportPoint_abs_Cylinder(shape, isign*R_absi) + isign*collisionSmoothingRadius
r_absi + R_absi'*supportPoint_abs_Cylinder(shape, isign*R_absi, collisionSmoothingRadius) + isign*collisionSmoothingRadius

@inline supportPoint_i_Cone(shape::Cone{F}, r_absi::F, R_absi::SVector{3,F}, isign::Int, collisionSmoothingRadius) where F <: Modia3D.VarFloatType =
r_absi + R_absi'*supportPoint_abs_Cone(shape, isign*R_absi) + isign*collisionSmoothingRadius
r_absi + R_absi'*supportPoint_abs_Cone(shape, isign*R_absi, collisionSmoothingRadius) + isign*collisionSmoothingRadius

@inline supportPoint_i_Capsule(shape::Capsule{F}, r_absi::F, R_absi::SVector{3,F}, isign::Int) where F <: Modia3D.VarFloatType =
r_absi + R_absi'*supportPoint_abs_Capsule(shape, isign*R_absi)
#
@inline supportPoint_i_Beam(shape::Beam{F}, r_absi::F, R_absi::SVector{3,F}, isign::Int, collisionSmoothingRadius) where F <: Modia3D.VarFloatType =
r_absi + R_absi'*supportPoint_abs_Beam(shape, isign*R_absi) + isign*collisionSmoothingRadius
r_absi + R_absi'*supportPoint_abs_Beam(shape, isign*R_absi, collisionSmoothingRadius) + isign*collisionSmoothingRadius

@inline supportPoint_i_Ellipsoid(shape::Ellipsoid{F}, r_absi::F, R_absi::SVector{3,F}, isign::Int) where F <: Modia3D.VarFloatType =
r_absi + dot(R_absi, supportPoint_abs_Ellipsoid(shape, isign*R_absi))
Expand Down
4 changes: 2 additions & 2 deletions src/Shapes/solid.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ Generate a [Solid](@ref) with physical behavior of a rigid body with mass, visua
If undefined `solidMaterial` is used as contact material. Only contact material combinations defined in
palettes/contactPairMaterials.json can be used.

- `collisionSmoothingRadius`: Defines a collision smoothing radius for surface edges.
- `collisionSmoothingRadius`: Defines a collision smoothing radius for surface edges, its default value is `0.001`. It takes the minimum value of your collision smoothing radius and 10% of the smallest shape length, like `min(collisionSmoothingRadius, 0.1 min(shape dimensions))`. If it is set to `0.0` no `collisionSmoothingRadius` is used. A `collisionSmoothingRadius` is used for `Box`, `Cylinder`, `Cone`, and `Beam`.

- `visualMaterial`: Defines the material of the solid used for visualization. A pre-defined [Visual material](@ref)
from palettes/visualMaterials.json (e.g. `"RedTransparent"`) or a user-defined [Visual material](@ref) (e.g.
Expand Down Expand Up @@ -66,7 +66,7 @@ struct Solid{F <: Modia3D.VarFloatType} <: Modia3D.AbstractObject3DFeature
massProperties::Union{Modia3D.AbstractMassProperties, Number, AbstractString, SolidMaterial, Nothing} = nothing,
collision::Bool = false,
contactMaterial::AbstractString = "",
collisionSmoothingRadius=F(0.0),
collisionSmoothingRadius=F(0.001),
visualMaterial::Union{Shapes.VisualMaterial,AbstractString,Nothing} = Shapes.VisualMaterial(),
visualMaterialConvexDecomposition::Union{Shapes.VisualMaterial,AbstractString,Nothing} = Shapes.VisualMaterial()) where F <: Modia3D.VarFloatType

Expand Down
5 changes: 4 additions & 1 deletion test/Collision/Billard16Balls.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -161,7 +161,10 @@ stopTime = 5.0
testTime = 1.5
tolerance = 1e-7
interval = 0.01
requiredFinalStates = [0.932366799335576, -0.1809055453453808, 0.029998498134144663, -0.7103630227248175, 0.6377388248964195, 1.1444288897717778e-6, -13.566618270564867, -0.42919381686392427, -51.78988526736147, 11.493760035228535, -28.18604746494348, -9.274500717106385, 0.3251486817061108, 0.0277286799792369, 0.029997667871541817, -0.045386147393685815, 0.02494087446146572, 7.071173322231522e-8, 0.9632466512796863, -0.5878042027751957, 1.5143706927695095, -0.861956899427833, -0.045669513590901455, 1.493862089438712, 0.39298296990029624, 0.31443841595786626, 0.02999755995288625, -0.029579270256977687, 0.25850852424613885, 6.562293682475234e-8, -7.840310943130716, -0.22781027762967296, -0.00022046380069404116, -8.61621588049777, -0.015376628222091354, 0.9855966966155278, 0.3526455762477307, -0.14552368823544187, 0.029998721963160897, -0.057011659723902604, -0.09065452423116344, -8.653552121260222e-8, 6.459748235199671, 0.5652530149121028, -0.6639862633740976, 3.0209995132661214, -0.010982860555903253, 1.8999736576736441, 0.47670063132250745, 0.3099048889509481, 0.029997421532352294, -0.0006769792995982574, 0.2229955863299179, 2.9194050230091563e-8, -6.655801757380954, -0.004141770772412782, 0.0028176900827465165, -7.4323933372165625, -7.305657972955619e-5, 0.022568896128615564, 0.37840319713002285, -0.012963232464096818, 0.02999875966729973, -0.04484612026412316, -0.01870915329881244, -7.208399687395234e-8, 1.6965213695410617, 0.1977224261883109, 3.2954869765056243, -0.34490572158434835, -0.13607654959318882, 1.5757582373497208, 0.4633742499427428, -0.09378070068856673, 0.029998896986446838, -0.0015652873740667117, -0.003652848226545061, -2.4987276746535646e-9, 2.656356306554525, 0.23639487319578706, 0.38604413792469905, 0.12085277944201457, 0.0003287441742882174, 0.05178620920634418, 0.5428863683537681, 0.2943322001786872, 0.029997306661373246, -0.13768336551274443, -0.1851622791468273, 2.0078211428767719e-7, -5.375047117690531, -0.20203914599329129, 0.10653255747034371, 6.433295956341206, -3.5272618482549762, 2.3057689265206, 0.5280309277659228, 0.02942739270768953, 0.02999734541680833, -5.044121808188397e-20, 9.428347202819351e-21, -5.466235560496825e-16, 1.5889609635189603, 0.0005115878793856781, 0.046982911615666534, -2.4228143760058907e-19, 3.2624724384601617e-20, 1.1673908074254789e-18, 0.5298438682763498, -0.03183946031101317, 0.029999002925936664, -8.142477014259519e-21, 1.1761024407502177e-19, 1.0608751087429057e-15, 1.6267922291325265, -0.0001256272854985119, -0.005205072094840777, -2.7673423988914685e-18, -3.6811347353528955e-21, 1.9164480962300681e-19, 0.5381967274955715, -0.09511668839776263, 0.02999893597287435, 1.3871304758602952e-19, 7.498953839924982e-20, -8.143802396256386e-16, 1.730158036566943, -0.022588130601776637, -0.281024412874448, -1.5665221939228563e-18, -9.961009508542885e-19, -3.2119014261001362e-18, 0.5929249250619509, 0.3675391345013976, 0.02999723614557378, 0.15871532013868042, -0.02163412259019427, -2.6738370458370294e-7, -6.138533187062709, 0.39137705412259355, -0.06719579923842542, 0.6037384255409345, 5.286894168535472, -0.4297978224995873, 0.6237332809243649, 0.06693523635562337, 0.02999718716466229, -0.7831165950290768, 0.006322740845781519, 1.2540953236069932e-6, 1.5553640384963576, -0.0007184754118179108, -0.4076245039066669, -0.01658144207454254, -0.44593094784613335, 26.100631753797174, 0.7644111449675985, -0.10684189228601401, 0.029998770977235967, 0.15888713100972973, -0.09284933646323527, -2.556184630160367e-7, 1.9038535203035778, -0.10274628247224886, -6.876920865937453, 3.0945607771911487, 3.0099334930590755e-6, -5.295522727127085, 0.7873309564302046, -0.17885480694204717, 0.02999873419045156, 0.18240369275975934, -0.10527901745690532, -2.9341893832220583e-7, 2.1544733025511604, -0.43524252418696596, -7.552219570239919, 3.508900484679646, 4.884908275674251e-8, -6.079425693001544, 0.7976927318357205, -0.2449410071153632, 0.029998695463387254, 0.19310925173414872, -0.11146304026743674, -1.7919890060996748e-7, 2.1859301340330397, -0.6276845534744078, -7.87553854587797, 3.7150403761585165, 4.196632621604925e-7, -6.436287097720782]
requiredFinalStates = [0.9332483106072544, -0.18187312532441693, 0.02999849671681763, -0.7095832048149922, 0.6368707654369432, 1.143171041101384e-6, -13.553942563593557, -0.4195243794435807, -51.79233008660278, 11.807007209726729, -27.975810451969565, -9.384295654892883, 0.3251502055431403, 0.02772819926252931, 0.0299976678693217, -0.04538254491852899, 0.024939912003186206, 7.070612097816354e-8, 0.9632341714743309, -0.5877775478177794, 1.5143189193110465, -0.8619057261773254, -0.04563751290039998, 1.493753202547408, 0.3929865232660756, 0.3144313176017014, 0.02999755994676683, -0.029575936325025438, 0.2585011782116537, 6.561905218417997e-8, -7.840063597155187, -0.2277908945852809, -0.00019226199038493234, -8.615970964912231, -0.015375784664400687, 0.9854859077520338, 0.35264619603819136, -0.1455217831653319, 0.029998721964137057, -0.057010908229208075,
-0.09065260935706018, -8.653447595525189e-8, 6.459702521706873, 0.5652888666079168, -0.6639992091264718, 3.020935678454475, -0.010981861879533573, 1.8999486180785712, 0.4767000746505306, 0.3099041129858934, 0.029997421533340347, -0.000677475986573399, 0.22299475711912944, 2.9194977603015673e-8, -6.655776509123009, -0.004144753260705207, 0.0028197921641742747, -7.432365696094535, -7.313664045288635e-5, 0.022585451684508966, 0.37840223311722093, -0.012962335005372607, 0.029998759665832785, -0.04484894718050894, -0.018709076016894303, -7.208853680055674e-8, 1.6964858028612126, 0.1977112296712567, 3.295519051579319, -0.3448993355673044, -0.1360257577294032, 1.575852345040146, 0.4633745589270613, -0.09377988839444025, 0.029998896986993488, -0.0015649341362523825, -0.003652013551363397, -2.4981817856544117e-9, 2.656330472428428, 0.23638530230275412, 0.38603973735519714, 0.1208249566227207, 0.00032866611117734275, 0.051774433544048655, 0.543108869560303, 0.294825435037727, 0.029997306373749883, -0.13739876028170375, -0.18509290020490796, 2.0018394912833252e-7, -5.392323206693009, -0.19893911728985575, 0.09891875505772645, 6.433873311561829,
-3.5319763124007437, 2.2716379105590336, 0.5280319930400308, 0.029427616694857592, 0.029997345415267766, 6.188799580920981e-20, 2.4903463163550593e-21, 4.911639361450669e-16, 1.58895399725716, 0.0005110489112549728, 0.04694833800247477, -6.34969334816791e-20, -2.3228133668370105e-20, -1.4418272517450767e-18, 0.5298438369751591, -0.03183889801132204, 0.029999002925945182, -3.528350416143663e-21, 6.617194627952165e-20, 1.0661056375916704e-15, 1.6267735556275007, -0.00012555443489016495, -0.005204036469135774, -1.5570145480554775e-18, -3.457487981432338e-21, 8.309401741933345e-20, 0.5381964461760903, -0.09511652750222786, 0.029998935973198977, 3.3952835589304447e-19, 4.564806492215736e-20, -1.5820947449642875e-16, 1.7301528615002686, -0.022586636896998424, -0.28101511497365944, -8.512851070761004e-19, -1.56519884944499e-18, -7.861488949920675e-18, 0.5927031648245079, 0.36786146767471367, 0.029997236552983333, 0.15845614558647408, -0.021331046796790255, -2.6683180694948455e-7, -6.1506936540955435, 0.3850250268876852, -0.06208674136021588, 0.5943245171790156, 5.281798549535106, -0.3795624991282996, 0.6246051141249892, 0.06692601485006958,
0.029997185771465026, -0.7827343505535713, 0.0063040893634809525, 1.253509421990429e-6, 1.5554333188869556, -0.0003679414861786754, -0.43663920366531234, -0.012217027572522585, -0.4480160765048617, 26.087850149346753, 0.7644107912334863, -0.10684167972512111, 0.029998770977880018, 0.15888674304279835, -0.09284910325102662, -2.5561782366711e-7, 1.9038478829272165, -0.10274259951709455, -6.876910249442725, 3.0945533634136773, 2.7134425786966793e-6, -5.295509584063961, 0.7873305258304856, -0.17885453451990208, 0.029998734191221205, 0.18240322785924398, -0.10527871347180867, -2.9341817035907206e-7, 2.154470220878549, -0.43523449284704646, -7.552206447838509, 3.5088892765009883, 9.132940300022019e-8, -6.07941081639718, 0.797699578168697, -0.2449449301094816, 0.029998695457177985, 0.19311625283414027, -0.11146703795842461, -1.7920530914190386e-7, 2.1859263471360704, -0.6278127900525268, -7.875763426542622, 3.7151718402931464, 1.9768906588609457e-7, -6.436521510513785]
simulate!(billard, stopTime=testTime, tolerance=tolerance, interval=interval, log=true, useRecursiveFactorizationUptoSize=500, logStates=false, logEvents=false, requiredFinalStates=requiredFinalStates) # logTiming=true,

@usingModiaPlot
Expand Down
3 changes: 2 additions & 1 deletion test/Collision/Billard4Balls.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,8 @@ stopTime = 5.0
testTime = 2.5
tolerance = 1e-8
interval = 0.01
requiredFinalStates = [-0.07460364471173221, 0.2469233096172712, 0.02999808173004779, -0.8140655302596929, 0.5084317411521541, -1.3068678733294896e-6, -42.7652633611384, 1.047560394408595, -60.72880165368908, 7.38708629975639, 31.06670049188193, -1.960629264729011, -0.16442543215744446, 0.18417112667173485, 0.029997936572327664, -0.5830364755926802, 0.19967781792799022, -9.364111798032492e-7, 1.7112859000107352, -0.030080471477740935, 18.428349235400127, -6.655783301501015, 2.608416752777656e-5, 19.434131145447342, 0.4157205359423622, -0.26151248132958926, 0.02999752999578585, -0.004227558410584902, -0.5010189719266817, 4.451418189102991e-9, 11.8212750686071, 0.004051667523321807, 0.009243543858720088, 16.69866719227009, -0.25793872649482263, -0.027881848697937514, 0.14732605173091393, -0.19152425557632252, 0.029997960148676502, -0.3029387840817542, -0.18019916669264857, 4.874004906675558e-7, 0.9559962768568293, 0.514303198441921, 13.15248045495156, -2.245358300329699, -5.500137730579288, 10.136046562118707]
requiredFinalStates = [-0.07276225904925236, 0.2453456530297493, 0.029998084681964913, -0.8131729732525697, 0.5077564852782904, -1.3054330162748875e-6, -42.63423883478191, 1.057147543314802, -60.857759531439584, 6.792698034233983, 31.176405211463067, -1.7514957638408275, -0.16326113730274155, 0.18382050752887918, 0.029997938439605354, -0.5825412482752137, 0.19956045698679084, -9.35615015465449e-7, 1.7229244023445067, -0.035543362353461956, 18.391320766547988,
-6.6518712571402085, 2.4718947541234226e-5, 19.417623095449052, 0.41573795678955616, -0.26010343483884174, 0.029997529974735922, -0.004214932154558947, -0.5004735821234532, 4.336935240904981e-9, 11.774329191872447, 0.0041356928296786815, 0.009594145569267762, 16.680464236463397, -0.25872571383738985, -0.03100956782463096, 0.14788438085905078, -0.19122222797434096, 0.029997959251799728, -0.3027500332956257, -0.18012193238323354, 4.870923313573792e-7, 0.9532991179253845, 0.5248074513493877, 13.134794408356132, -2.240587263789671, -5.501727604570828, 10.128445467657514]
simulate!(billard, stopTime=testTime, tolerance=tolerance, interval=interval, log=true, logStates=false, logEvents=false, useRecursiveFactorizationUptoSize=500, requiredFinalStates=requiredFinalStates) # logTiming=true,

@usingModiaPlot
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