80 Commits

Author	SHA1	Message	Date
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	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	80aa523825	Tune deformable collision parameters for more stable deformable vs. deformable contact	2020-04-01 17:46:37 -07:00
Xuchen Han	c785be51ce	Initialize uninitialized variables in btSoftBody	2020-03-25 13:24:05 -07:00
erwincoumans	dd2f2e3128	Merge pull request #2682 from xhan0619/master ... Add support for getPose for deformable objects and separate deformable vs. rigid face contact and deformable vs. multibody face contact for flexibility.	2020-03-22 18:44:18 -07:00
Xuchen Han	3cb18f87cc	fix issue #2675: update dbvt volume immediately after face tree is initialized to prevent empty volumes	2020-03-20 12:34:38 -07:00
Xuchen Han	5d26efd988	formatting and minor bug fix	2020-03-19 12:29:00 -07:00
Xuchen Han	19ed1c952a	separate face contact between deformable and rigid and multibodies	2020-03-18 17:58:46 -07:00
Xuchen Han	cab8b84a8f	Support get body state for deformable objects so that it retrieves the best fit rigid transform	2020-03-18 17:11:20 -07:00
Xuchen Han	27d2cdaef0	Merge remote-tracking branch 'xuchen/master' into teleport	2020-03-15 19:29:06 -07:00
Xuchen Han	4b35af3830	change deformable teleport to absolute pose	2020-03-12 16:40:25 -07:00
Xuchen Han	cbf282fb2f	Add support for teleporting deformables	2020-03-12 16:39:28 -07:00
Xuchen Han	7dfef92267	Add support for picking deformable with mouse	2020-03-09 11:19:08 -07:00
Xuchen Han	4efc983ca5	bug fixes and parameter tuning	2020-03-04 17:22:46 -08:00
Xuchen Han	2869a386a7	prevent geometric collision for sleeping deformable objects	2020-03-02 13:32:04 -08:00
Xuchen Han	dbf2050269	extrapolate render mesh	2020-03-02 12:12:04 -08:00
Erwin Coumans	dc19da18ee	fix memory leak due to custom container not handling copy operator for recursive containers	2020-02-22 10:54:23 -08:00
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	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	79c1343b6a	change number of quadrature points from 3 to 2	2019-12-31 14:03:54 -08:00
Xuchen Han	a808d74895	fix bug in the pretransform of rigid body interpolation transform	2019-12-30 10:55:30 -08:00
Xuchen Han	442047a862	more bug fixes	2019-12-27 13:16:31 -08:00
Xuchen Han	65b75e5937	bug fixes for face contact to prevent sticking	2019-12-27 12:43:08 -08:00
Xuchen Han	39df98465e	set a smaller dt for deformable_ball.py for stability and typo fix	2019-11-25 17:07:00 -08:00
Xuchen Han	abd7a556e1	Merge remote-tracking branch 'origin/master'	2019-11-25 15:29:25 -08:00
Erwin Coumans	96deb42aa5	pybullet.createSoftBodyAnchor	2019-11-19 19:20:08 -08:00
Erwin Coumans	431a71ebad	fix indexing in tetrahedra	2019-11-19 16:27:57 -08:00
Xuchen Han	2edd94c722	add option to approximate face contact with collision quadrature points	2019-11-12 17:10:39 -08:00
Xuchen Han	42b5c93bad	approximate face contact WIP	2019-11-12 11:50:47 -08:00
Xuchen Han	794614f269	change collision detection between deformables to from continuous to discrete	2019-11-11 13:58:03 -08:00
Xuchen Han	059e23d381	fix old soft body collision issue #2473	2019-11-07 13:00:13 -08:00
Xuchen Han	23dbea16f3	initialize m_useSelfCollision	2019-10-24 15:28:21 -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	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	a7222d8a9f	add option to set stress clamping limit	2019-10-15 13:51:33 -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	3b945597d1	prevent narrow phase collision detection between rigid and soft when both are sleeping	2019-10-15 13:50:12 -07:00
Xuchen Han	e13578fee3	add option to turn self-collision on/off	2019-10-15 13:47:55 -07:00
Xuchen Han	d0e4bbf04d	fix gravity set up	2019-10-15 13:47:54 -07:00
Xuchen Han	cb46440e17	add normal cone optimization for self-collision	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	ae42cc561e	add damping energy in line search	2019-09-28 14:44:41 -07:00