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
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
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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).
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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
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
607ddc25b7
make deformable collision detection wider
2020-05-11 15:53:54 -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
80acb57119
fix softbody GetRigidTransform
2020-05-07 17:21:55 -07:00
Xuchen Han
eefec255cf
Merge remote-tracking branch 'origin/master' into splitImpulse
2020-04-27 20:29:06 -07:00
erwincoumans
8618d60c7c
Merge pull request #2756 from xhan0619/KKT
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Add support for KKT solver.
2020-04-23 09:45:58 -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
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
ebc84b3b8d
use x_n instead of x_{n+1} to calculate deformable penetration distance
2020-04-15 13:33:43 -07:00
Xuchen Han
ed3b697320
fix rayTest crash for btSoftBody
2020-04-14 17:13:00 -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
460164c30e
CG with projection + MGS working
2020-04-08 11:27:26 -07:00
Erwin Coumans
bd5fde778b
fix uninitialized variables in btSoftBody: if you add new variables, always initialize them!
2020-04-06 20:33:29 -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
erwincoumans
e2808eefd8
Merge pull request #2708 from xhan0619/msan
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fix uninitialized variable in btSoftBody
2020-04-01 19:17:08 -07:00
Xuchen Han
86e048dddc
fix uninitialized variable in btSoftBody: m_sst is not initialized at the time initializeFaceTree is called
2020-04-01 17:53:24 -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
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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
