59 Commits

Author	SHA1	Message	Date
Chuyuan Fu	07521869db	format file ... format format	2020-08-12 10:46:26 -07:00
Chuyuan Fu	25aa0f5669	clean up code	2020-08-12 10:13:49 -07:00
Chuyuan Fu	086638d16e	fix bug in multibody point contact with deformable	2020-08-12 09:35:22 -07:00
Chuyuan Fu	b8fd4a1060	added caching barycenters for static constraints, with lots of debugging lines	2020-08-12 09:33:49 -07:00
Xuchen Han	b969f14d21	run clang format	2020-06-19 14:52:44 -07:00
Xuchen Han	f7354751a9	improve contact stability for implicit scheme	2020-06-17 18:43:49 -07:00
Xuchen Han	9cfe16abb4	add corotated linear elasticity	2020-06-16 15:57:58 -07:00
Xuchen Han	d1d2dad2e6	do not apply deformable contact impulse to points and faces constrained in rigid/deformable solve	2020-05-20 17:56:20 -07:00
Xuchen Han	cb1cd969a8	allow positive penetration to pose inactive constraints for more stability	2020-05-08 16:51:53 -07:00
Xuchen Han	ad6bc07535	exclude inactive constraints from KKT solve	2020-04-23 16:21:52 -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	165427de01	refactor to support both CG+projection and KKT	2020-04-15 17:46:01 -07:00
Xuchen Han	5cb252dc4c	treat the feature with the deepest penetration as static in deformable contact	2020-04-15 14:48:53 -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	6469e0f181	Lagrange Multiplier working	2020-04-08 15:12:28 -07:00
Xuchen Han	460164c30e	CG with projection + MGS working	2020-04-08 11:27:26 -07:00
Xuchen Han	bbdca8a4e8	add support for reduced vectors and modified gram schmidt	2020-04-04 17:19:57 -07:00
Xuchen Han	6a1e3a5164	move deformable collision detect to after momentum solve; clean up code	2020-04-03 22:07:33 -07:00
Xuchen Han	dafed01013	float->btScalar; add optional post collision damping	2020-02-07 13:22:15 -08:00
Xuchen Han	3bc701c487	Improve intra-deformable collision and deformable self collision	2020-02-06 17:01:20 -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	89553c44e7	solve constraints involving deformable objects according to islands	2019-12-18 23:11:34 -08:00
Xuchen Han	baa9dcdf08	move erp for deformable into a separate parameter	2019-11-07 12:13:51 -08:00
Xuchen Han	13314360a8	add option for deformable rigid split impulse	2019-11-05 18:07:58 -08:00
Xuchen Han	60dfe1fe69	add support for anchor constraint between deformable and rigid	2019-10-16 19:23:01 -07:00
Xuchen Han	3d622a3bee	enable deformable sleeping	2019-10-16 12:00:02 -07:00
Xuchen Han	20abbc9ee7	add dynamic friction for deformable contact	2019-09-28 14:44:41 -07:00
Xuchen Han	ae42cc561e	add damping energy in line search	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	5330396c70	enabled mass preconditioner	2019-09-04 18:49:43 -07:00
Xuchen Han	e124c62a70	each node only allows a single contact; initial guess for newton set to x = x_n + dt*v_n	2019-09-04 18:49:43 -07:00
Xuchen Han	908cf69f06	change deformable/multibody solve to be in dv space	2019-08-24 14:58:11 -07:00
Xuchen Han	6beeac7065	refactor contact solve	2019-08-23 17:32:41 -07:00
Xuchen Han	4e1c1a30a7	remove world dependency from btDeformableBodySolver,btDeformableBackwardEulerObjective, and btCGProjection; reduce invasion into multibody world, all chnages are cosmetic now	2019-08-21 22:17:46 -07:00
Xuchen Han	9f559af2a8	set m_contact_iterations to solverInfo.m_solverIterations	2019-08-19 13:07:26 -07:00
Xuchen Han	bf215a3ce1	rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld	2019-08-16 13:45:30 -07:00
Xuchen Han	8860f8bacc	remove unused functions	2019-08-16 13:45:30 -07:00
Xuchen Han	86a1312875	add author info	2019-08-16 13:45:30 -07:00
Xuchen Han	07bf736aeb	build islands once and process islands arbitrary number of times in update constraints	2019-08-16 13:45:29 -07:00
Xuchen Han	fa5741d07e	improve dynamic friction	2019-08-16 13:45:29 -07:00
Xuchen Han	fb6612c0be	friction fixes	2019-08-16 13:45:08 -07:00
Xuchen Han	7adb6fdff3	2016 -> 2019	2019-08-08 17:43:49 -07:00
Xuchen Han	6a599bde87	setDt in reinitialize and remove unused variables	2019-08-06 10:16:56 -07:00
Xuchen Han	73f5eb6a8f	add profiling and code clean up	2019-08-05 16:49:04 -07:00