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2817 Commits
Author SHA1 Message Date
jingyuc 4f66d8bb87 update reduced variables and full space position every time applied the force 2021-08-06 17:10:58 -04:00
jyc-n 252aa91e9a reduced force WIP 2021-08-06 02:12:39 -04:00
jingyuc 32398d4d7f multiple fixed nodes seem okay 2021-08-05 00:00:12 -04:00
jingyuc fdfb08b72f single fixed constraint for the rigid frame is working 2021-08-04 22:44:53 -04:00
jingyuc 35ec8b39a7 re-work the external force application. clean up position and velocity update 2021-08-02 11:31:09 -04:00
jingyuc a37d23fa24 re-work the simulation time loop in order to support fixed constraints. still wip 2021-07-30 02:08:27 -04:00
jingyuc 5d17353269 add rigidTransformWorld to make the rendering works after applying initial translation. Center of mass looks right. Tested with rotating free fall 2021-07-29 11:45:44 -04:00
jingyuc c6c7533167 fixed constraints wip 2021-07-28 16:36:15 -04:00
jingyuc 549b57df77 clean up 2021-07-28 14:36:42 -04:00
jyc-n bfa74dbacd initial translation WIP 2021-07-28 00:03:51 -04:00
jingyuc 67b58428e8 clean up. now the inertia tensor is calculated based on geometry, and it is updated everytime step 2021-07-27 15:59:25 -04:00
jingyuc 24eb021ed6 clean up. impulse is now applied through a member function of btReducedSoftBody 2021-07-27 01:11:11 -04:00
jyc-n 0983d36eff rotation is working 2021-07-26 21:48:57 -04:00
jyc-n 7678545e76 clean up initialzation 2021-07-26 15:30:35 -04:00
jingyuc 9baee29300 simple rigid translation is working. 2021-07-26 11:28:37 -04:00
jingyuc 6f3dd32f37 add new btReducedSoftBody and btReduceDeformableSolver class 2021-07-23 16:20:09 -04:00
jyc-n 87e20f450b save files. misc 2021-07-22 21:55:34 -04:00
jyc-n c325da8b34 add new ReducedSoftBody class. move read files functions to btReducedSoftBodyHelpers 2021-07-22 11:43:26 -04:00
jingyuc 49d7bb0301 minor cleanup 2021-07-19 17:34:38 -04:00
jingyuc 237333d030 make the impulse scaled with nodal mass. all binary mode files contains all modes info. 2021-07-19 15:26:00 -04:00
jingyuc f6dbbd4e66 avoid divided by 0 time 2021-07-19 12:32:16 -04:00
jingyuc 4119d8812e add initial impulse 2021-07-18 00:52:13 -04:00
jingyuc c24f2a72ef add internal force 2021-07-16 15:01:44 -04:00
jingyuc 4b6eaeed4c kinematic tested. specified delta_v as a cosine function. 2021-07-15 17:30:08 -04:00
jingyuc d390360f9e clean up kinematic test setup 2021-07-14 20:01:50 -04:00
jingyuc f1e86bf257 test modes kinematics 2021-07-14 16:00:28 -04:00
jingyuc fa00ee2bbd Start the reduced deformable example. Read in mesh and modes files. 2021-07-13 00:45:11 -04:00
erwincoumans 0e124cb2f1 Merge pull request #3841 from erwincoumans/master 
fix some msan (memory sanitizer) issues
 2021-05-12 13:54:56 -07:00
Erwin Coumans 92fb2db0a3 fix some msan (memory sanitizer) issues 2021-05-12 20:14:15 +00:00
Chuyuan Fu 88112560a1 initialize unused fields for deformable collision detection 2021-05-11 22:13:42 -07:00
erwincoumans ebe1916b90 Merge pull request #3834 from erwincoumans/master 
bump up pybullet version (and c++ version) to 3.17/3.1.7
 2021-05-07 11:04:02 -07:00
Erwin Coumans 092b7bc3d9 bump up pybullet version (and c++ version) to 3.17/3.1.7 2021-05-07 11:03:21 -07:00
Andrea Catania c0efe069c5 Fixes assertion caused by a 0len vector normalization 
fixes #3194
 2021-04-26 11:04:39 +02:00
erwin coumans a142e8d174 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-04-24 23:53:04 -07:00
erwin coumans 3b2e46e7dd PyBullet: try to address activation/deactivation issue with fixed base multibody with links. 2021-04-24 23:52:53 -07:00
Erwin Coumans 85a03bf999 Merge remote-tracking branch 'bp/master' 2021-04-22 20:41:59 -07:00
Erwin Coumans fc2992b75a Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-22 20:41:45 -07:00
erwin coumans 46ea89a284 fixed base should set activation state to 'ISLAND_SLEEPING' 2021-04-22 20:20:08 -07:00
Matt Bennice 225fa20944 Fix memory leak in BulletSoftBody. 2021-04-22 15:32:38 -07:00
Erwin Coumans 83a5fe2d31 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-21 22:14:38 -07:00
erwincoumans 201e7159d6 Merge pull request #3351 from erwincoumans/master 
PyBullet: expose useMultiBody argument for loadMJCF command, expose sleeping threshold
 2021-04-20 14:42:42 -07:00
erwin coumans e58e5bdf95 PyBullet: 
expose pybullet.changeDynamics(sleepThreshold), default 0.05, for both useMaximalCoordinates=False and True
When the dot(vel,vel) < sleepThreshold for longer than 2 seconds (this timeout is hard coded) objects that have the ACTIVATION_STATE_ENABLE_SLEEPING enabled with be deactivated
Example:
p.changeDynamics(ob, -1, activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING, sleepThreshold=0.05)
 2021-04-20 11:29:27 -07:00
erwincoumans 049d13d190 Merge pull request #3324 from kjander0/bug/update_comment 
Updating a misleading comment
 2021-04-10 15:57:14 -07:00
erwincoumans 7ec009ec50 Merge pull request #3320 from AnyOldName3/patch-1 
Use drawTriangle instead of drawing three lines
 2021-04-05 16:21:35 -07:00
erwin coumans 8b8c1af6a4 Cleaned-up/fixed version of this Pull Request #3239, thanks to Wenlong Lu 2021-04-05 11:40:45 -07:00
Kieren c810edf483 Updating a misleading comment 2021-03-25 21:00:27 +10:00
Chris Djali 6e2577ca59 Use drawTriangle instead of drawing three lines 2021-03-21 15:07:01 +00:00
erwin coumans 5cf8ee3360 Allow to compile pybullet using btDiscreteDynamicsWorld (no multibodies and no deformables), this allows to create Jacobian and Mass matrix (and A=J*M-1*J_transpose) with MLCP solvers 
Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)
 2021-03-15 22:44:55 -07:00
erwincoumans 87e668f6b2 Merge pull request #3293 from glebm/heightfield-type 
heightfield: Fix PHY_FLOAT data handling in double-precision mode
 2021-03-11 17:10:38 -08:00
erwincoumans 2bd7fa7064 Merge pull request #3287 from glebm/heightfield-accel 
heightfield: improve `processAllTriangles` performance
 2021-03-11 17:10:20 -08:00