20 Commits

Author	SHA1	Message	Date
Xuchen Han	26ef0e093a	add full preconditioner for KKT system	2020-04-15 13:32:16 -07:00
Xuchen Han	1926eadb92	bug fix in CR solver and face contact	2020-04-11 15:02:26 -07:00
Xuchen Han	6ef1a4acbc	bug fix in CR multiply	2020-04-08 21:24:02 -07:00
Xuchen Han	460164c30e	CG with projection + MGS working	2020-04-08 11:27:26 -07:00
Xuchen Han	3bc701c487	Improve intra-deformable collision and deformable self collision	2020-02-06 17:01:20 -08:00
Xuchen Han	ee2a811c09	parameter tweaks after testing on robot	2020-01-04 19:29:52 -08:00
Xuchen Han	a274bcbfa3	add position error into deformable vs. rigid solve	2019-12-31 19:18:37 -08:00
Xuchen Han	d7442cee21	add strain rate limiting	2019-12-31 14:04:18 -08:00
Xuchen Han	65b75e5937	bug fixes for face contact to prevent sticking	2019-12-27 12:43:08 -08:00
Xuchen Han	13314360a8	add option for deformable rigid split impulse	2019-11-05 18:07:58 -08:00
Xuchen Han	9ebbab959c	use safenorm	2019-10-31 12:53:12 -07:00
Xuchen Han	ec1ef0c465	add strain limiting to face contact to improve stability	2019-10-31 12:53:12 -07:00
Xuchen Han	c6af3aa3f8	fix bug in deformable vs. deformable friction	2019-10-23 12:17:21 -07:00
Xuchen Han	36f7441790	support anchor constraint between deformable and multibody	2019-10-17 16:45:28 -07:00
Xuchen Han	60dfe1fe69	add support for anchor constraint between deformable and rigid	2019-10-16 19:23:01 -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