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8,568 Commits 19 Branches 27 Tags
70a0ef65d821ae92fe4e7aa09e307d3fa643e45e
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320 Commits

Author SHA1 Message Date
Xuchen Han
70a0ef65d8 fix bug in deformable replulsion force and adjust parameter in deformable self collision 2020-06-26 14:19:44 -07:00
Xuchen Han
4317ddc285 change dynamic_cast to static_cast 2020-06-26 11:47:40 -07:00
Xuchen Han
bf8cf19665 support implicit integration in picking force 2020-06-24 17:48:43 -07:00
Xuchen Han
7523861bf5 fix picking issue in Deformable Self Collision demo 2020-06-24 17:48:11 -07:00
Xuchen Han
3f34b6920f revert the max number of solver iteration to previous value 300 2020-06-19 17:26:03 -07:00
Xuchen Han
bfaaca81be bug fix in implicit predict motion 2020-06-19 17:04:02 -07:00
Xuchen Han
41210ca37f restore CMakelist and premake.lua 2020-06-19 17:02:36 -07:00
Xuchen Han
e0b554787f Merge remote-tracking branch 'origin/master' into implicit-contact 2020-06-19 15:05:34 -07:00
Xuchen Han
b969f14d21 run clang format 2020-06-19 14:52:44 -07:00
Xuchen Han
395f8c6117 add implicit point contact for corotated linear elasticity objects 2020-06-19 14:49:58 -07:00
Xuchen Han
92f2f56b3d add mass damping into damping model 2020-06-18 16:43:53 -07:00
Xuchen Han
f7354751a9 improve contact stability for implicit scheme 2020-06-17 18:43:49 -07:00
Xuchen Han
4594927d02 corotate the damping force for linear elasticity 2020-06-17 18:43:14 -07:00
Xuchen Han
f23e745666 clang format PhysicsServerCommandProcessor and BulletSoftBody 2020-06-17 17:20:39 -07:00
Xuchen Han
9cfe16abb4 add corotated linear elasticity 2020-06-16 15:57:58 -07:00
erwincoumans
da50438c3c Merge pull request #2826 from xhan0619/grav-factor 
Deformable gravity factor
 2020-06-05 10:07:27 -07:00
Erwin Coumans
c09007e005 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-06-04 00:00:44 -07:00
Erwin Coumans
e6a0206d47 Allow to remove soft body anchors, using pybullet.removeConstraint (untested). 
Usage example:
anchors = []
anchors.append(p.createSoftBodyAnchor(clothId  ,0,-1,-1))
anchors.append(p.createSoftBodyAnchor(clothId ,3,boxId,-1, [0.5,-0.5,0]))
for a in anchors:
  p.removeConstraint(a)
 2020-06-04 00:00:19 -07:00
Xuchen Han
e89903a8ab support gravity factor for deformables 2020-05-26 16:48:50 -07:00
Xuchen Han
243aa4ac1f switch to a lower default threshold of CR solver for fewer iterations 2020-05-20 17:57:16 -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
65978cb58b revert experimental changes to collision padding 2020-05-20 17:55:03 -07:00
Xuchen Han
15f3e144f6 Merge remote-tracking branch 'origin/master' into splitImpulseMulti 2020-05-11 15:55:32 -07:00
Xuchen Han
5f2ac5e922 parameter tuning 2020-05-11 15:54:15 -07:00
Xuchen Han
607ddc25b7 make deformable collision detection wider 2020-05-11 15:53:54 -07:00
Xuchen Han
e4df217284 bug fix 2020-05-11 12:05:02 -07:00
Xuchen Han
cb1cd969a8 allow positive penetration to pose inactive constraints for more stability 2020-05-08 16:51:53 -07:00
Chuyuan Fu
9d6053a8ff Add writing surface mesh file for tetrahedron mesh 2020-05-07 17:23:12 -07:00
Chuyuan Fu
80acb57119 fix softbody GetRigidTransform 2020-05-07 17:21:55 -07:00
Xuchen Han
a9449601cd add multibody split impulse when solving contact with deformable 2020-05-03 00:51:46 -07:00
Xuchen Han
eefec255cf Merge remote-tracking branch 'origin/master' into splitImpulse 2020-04-27 20:29:06 -07:00
Xuchen Han
cfbcedeac9 add calculate contact force 2020-04-27 20:17:11 -07:00
Xuchen Han
38657ebdfd Add new header to CMakeLists 2020-04-27 17:45:30 -07:00
Xuchen Han
5fe898f9f2 refactor krylov solver 2020-04-27 15:48:51 -07:00
Xuchen Han
ad6bc07535 exclude inactive constraints from KKT solve 2020-04-23 16:21:52 -07:00
erwincoumans
8618d60c7c Merge pull request #2756 from xhan0619/KKT 
Add support for KKT solver.
 2020-04-23 09:45:58 -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
bc8f99a640 use m_q for collision detection and m_x for resolving collision 2020-04-22 15:18:54 -07:00
Xuchen Han
95287e458c support split impulse for deformable vs. rigid contact 2020-04-22 15:18:29 -07:00
Xuchen Han
e92d013730 add new files to CMakeLists 2020-04-22 13:39:45 -07:00
Xuchen Han
78aebd44e2 Merge remote-tracking branch 'origin/master' into KKT 2020-04-20 19:35:46 -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
ebc84b3b8d use x_n instead of x_{n+1} to calculate deformable penetration distance 2020-04-15 13:33:43 -07:00
Xuchen Han
26ef0e093a add full preconditioner for KKT system 2020-04-15 13:32:16 -07:00
Xuchen Han
ed3b697320 fix rayTest crash for btSoftBody 2020-04-14 17:13:00 -07:00
Xuchen Han
8783b4411c add diagonal preconditioner for KKT system 2020-04-12 12:00:42 -07:00
Xuchen Han
1926eadb92 bug fix in CR solver and face contact 2020-04-11 15:02:26 -07:00
Xuchen Han
5498c575c8 add guard agaist non-manifold geometry in vtk files 2020-04-09 11:16:28 -07:00
Xuchen Han
6ef1a4acbc bug fix in CR multiply 2020-04-08 21:24:02 -07:00