Chuyuan Fu
41eb074406
avoid dividing by 0
2019-10-31 12:53:12 -07:00
Chuyuan Fu
ae7c3e0dee
compute COM taking non-uniform model into account
2019-10-31 12:53:12 -07:00
Chuyuan Fu
74571d79e7
add compute softbody com
2019-10-31 12:53:12 -07:00
Erwin Coumans
b2732b16be
Merge remote-tracking branch 'bp/master'
2019-10-30 10:32:58 -07:00
Erwin Coumans
5a9b862ef5
bump up to Bullet version 2.89 and update serialization structures
2019-10-30 10:32:14 -07:00
erwincoumans
8aa7f93bf1
Merge pull request #2448 from fuchuyuan/mergechange
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merge warmstart
2019-10-30 10:31:43 -07:00
Xuchen Han
6dce8e4ff5
cull out most of the SVD calculation when stress is low
2019-10-29 22:39:10 -07:00
Erwin Coumans
938ac51da7
return a value in a degenerate svd case
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re-disable svd by default
2019-10-29 20:40:57 -07:00
Erwin Coumans
7bffbb2351
add check against FLT_EPSILON/DBL_EPSILON for sqrt and division to avoid nan.
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add max_iterations count in svd as safety termination condition
2019-10-29 18:28:30 -07:00
Erwin Coumans
136607151e
use mult instead of max to combine friction properties
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use 0.5 friction for ground for a demo, and also a larger grid size
update description of deformable algorithm
disable SVD for now, has some issue with some compilers
2019-10-28 12:53:59 -07:00
Chuyuan Fu
404e4b9187
align multibody warmstart default value with rigidbody
2019-10-24 15:53:18 -07:00
Xuchen Han
23dbea16f3
initialize m_useSelfCollision
2019-10-24 15:28:21 -07:00
Xuchen Han
270028363b
Fix some performance issues caused by unneccessarily small sdf grid size.
2019-10-24 15:03:23 -07:00
Chuyuan Fu
8c3ddac521
restore default behavior
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take out condition
2019-10-23 21:36:26 -07:00
Chuyuan Fu
913400eba1
add SOLVER_USE_ARTICULATED_WARMSTARTING option and APIs
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fix compile
2019-10-23 21:36:26 -07:00
Chuyuan Fu
ac680be673
fix space
2019-10-23 21:36:08 -07:00
Chuyuan Fu
08f53fc38d
add warmstart
2019-10-23 21:36:08 -07:00
Xuchen Han
c6af3aa3f8
fix bug in deformable vs. deformable friction
2019-10-23 12:17:21 -07:00
erwincoumans
9e72e01dad
Merge pull request #2438 from MarkSakharov/fix/division_by_zero
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Fixing division by zero
2019-10-19 17:39:32 -04:00
Mark S
88e4ca1970
Update btBatchedConstraints.cpp
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btVector3 constructor added.
2019-10-19 02:34:45 +03:00
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
Mark Sakharov
95fd362857
Fixing division by zero
2019-10-16 23:36:02 +03:00
Xuchen Han
3d622a3bee
enable deformable sleeping
2019-10-16 12:00:02 -07:00
Xuchen Han
774937bcd6
add option to turn face contact on/off
2019-10-15 13:53:27 -07:00
Xuchen Han
05c25a27de
address comment from ldowns
2019-10-15 13:51:33 -07:00
Xuchen Han
a1afc66817
remove std::fabs and std::max
2019-10-15 13:51:33 -07:00
Xuchen Han
30238b2fbc
remove std::copysign
2019-10-15 13:51:33 -07:00
Xuchen Han
a7222d8a9f
add option to set stress clamping limit
2019-10-15 13:51:33 -07:00
Xuchen Han
9e29f7108d
remove Eigen
2019-10-15 13:50:13 -07:00
Xuchen Han
9546390fd6
clamp stress for NeoHookean in singular value space
2019-10-15 13:50:13 -07:00
Xuchen Han
e87df18544
switch to damping model from Irvine 05 for its SPDness
2019-10-15 13:50:13 -07:00
Xuchen Han
87546bb7c3
prevent velocity of deformable from getting too big from explicit force
2019-10-15 13:50:13 -07:00
Xuchen Han
0d742273c1
set default drag coefficient to 0
2019-10-15 13:50:13 -07:00
Xuchen Han
25a566c378
finish deformable sleeping and add option for drag
2019-10-15 13:50:13 -07:00
Xuchen Han
0d7ff567e6
bug fix in deformable predict motion
2019-10-15 13:50:13 -07:00
Xuchen Han
58a67f82fb
set default integration scheme to explicit
2019-10-15 13:50:13 -07:00
Xuchen Han
ca92cf067e
fix removeCollisionObject for Deformable world
2019-10-15 13:50:12 -07:00
Xuchen Han
3b945597d1
prevent narrow phase collision detection between rigid and soft when both are sleeping
2019-10-15 13:50:12 -07:00
Xuchen Han
c610ba49df
fix bug in computing rhs in momentum solve
2019-10-15 13:47:55 -07:00
Xuchen Han
e13578fee3
add option to turn self-collision on/off
2019-10-15 13:47:55 -07:00
Xuchen Han
4220c7f94c
tune CG tolerance
2019-10-15 13:47:54 -07:00
Xuchen Han
d0e4bbf04d
fix gravity set up
2019-10-15 13:47:54 -07:00
Erwin Coumans
3a4159c793
fix slow full btMatrixX operator* (was not used)
2019-10-08 19:31:58 -07:00
Xuchen Han
96bf2f2ff5
address PR comments
2019-10-01 14:47:49 -07:00
Xuchen Han
212b990b0e
remove auto and add include
2019-09-28 14:44:42 -07:00
Xuchen Han
9f11ac5d4d
add include
2019-09-28 14:44:42 -07:00
Xuchen Han
11ad0f0dfd
add btMatrix3x3 constructor from vectors
2019-09-28 14:44:42 -07:00
Xuchen Han
c178905998
remove siData
2019-09-28 14:44:42 -07:00
Xuchen Han
ccaddfca21
documentation and optimization
2019-09-28 14:44:42 -07:00
Chuyuan Fu
Erwin Coumans
erwincoumans
Xuchen Han
Mark S
Xuchen Han