26 Commits

Author	SHA1	Message	Date
Xuchen Han	cb1cd969a8	allow positive penetration to pose inactive constraints for more stability	2020-05-08 16:51:53 -07:00
Xuchen Han	a9449601cd	add multibody split impulse when solving contact with deformable	2020-05-03 00:51:46 -07:00
Xuchen Han	296602fc57	add max split impulse push out distance and switch contact to be double sided	2020-04-23 01:54:37 -07:00
Xuchen Han	95287e458c	support split impulse for deformable vs. rigid contact	2020-04-22 15:18:29 -07:00
Xuchen Han	26ef0e093a	add full preconditioner for KKT system	2020-04-15 13:32:16 -07:00
Xuchen Han	8783b4411c	add diagonal preconditioner for KKT system	2020-04-12 12:00:42 -07:00
Xuchen Han	1926eadb92	bug fix in CR solver and face contact	2020-04-11 15:02:26 -07:00
Xuchen Han	a274bcbfa3	add position error into deformable vs. rigid solve	2019-12-31 19:18:37 -08:00
Xuchen Han	442047a862	more bug fixes	2019-12-27 13:16:31 -08:00
Xuchen Han	89553c44e7	solve constraints involving deformable objects according to islands	2019-12-18 23:11:34 -08:00
Xuchen Han	f65a8b03c0	separate deformable contact solve by islands WIP	2019-12-17 18:27:23 -08:00
Xuchen Han	d38ea87027	add gripper with deformable cloth demo	2019-12-13 14:33:54 -08:00
Xuchen Han	13314360a8	add option for deformable rigid split impulse	2019-11-05 18:07:58 -08:00
Xuchen Han	774937bcd6	add option to turn face contact on/off	2019-10-15 13:53:27 -07:00
Xuchen Han	c610ba49df	fix bug in computing rhs in momentum solve	2019-10-15 13:47:55 -07:00
Xuchen Han	c178905998	remove siData	2019-09-28 14:44:42 -07:00
Xuchen Han	657a7468b3	documentation and optimization	2019-09-28 14:44:41 -07:00
Xuchen Han	416e516735	add naive implementation of self collision	2019-09-28 14:44:41 -07:00
Xuchen Han	0501fe1bbd	add cloth demo to show deformable friction	2019-09-28 14:44:41 -07:00
Xuchen Han	d761b2cd68	add some documentation	2019-09-28 14:44:41 -07:00
Xuchen Han	1bfb226be8	add support for deformable vs. deformable contact	2019-09-28 14:44:41 -07:00
Xuchen Han	403eb62dfa	code clean up and optimization	2019-09-28 14:44:41 -07:00
Xuchen Han	109d9353af	switched to deformable rigid contact from Jacobi to Gauss Seidel	2019-09-28 14:44:41 -07:00
Xuchen Han	f99cf56149	finished refactoring; start adding face contact	2019-09-28 14:44:41 -07:00
Xuchen Han	8b38076376	update license	2019-08-24 12:44:58 -07:00
Xuchen Han	6beeac7065	refactor contact solve	2019-08-23 17:32:41 -07:00