2832 Commits

Author	SHA1	Message	Date
jingyuc	840db372b9	delta impulse version is working	2021-08-24 00:40:27 -04:00
jingyuc	d9152b9cf5	WIP warm starting	2021-08-23 01:17:58 -04:00
jingyuc	368385d5ad	need to project the impulse on the normal to prevent sliding	2021-08-21 15:54:34 -04:00
jingyuc	70ec2f9d46	use the correct relative position to apply the impulse	2021-08-18 16:24:46 -04:00
jingyuc	0444fea9eb	collision impulse starts to look reasonable, but the motion is still strange.	2021-08-18 14:31:59 -04:00
jingyuc	eacdbe67a0	reduced velocity should be updated from i-th iteration instead of from the predicted state, because thexternal force has no memory of the previous iteration	2021-08-16 14:36:35 -04:00
jingyuc	9a17391a9a	modified the code. explicit time stepping should only be implicit in velocity	2021-08-13 16:34:34 -04:00
jyc-n	d6d8c3ceac	reworking static constraint WIP	2021-08-12 22:36:39 -04:00
jingyuc	35f7a1a569	add new reduced deformable contact constraint class. able to call the reduced soft body's apply impulse function	2021-08-12 12:31:44 -04:00
jingyuc	e4e8f1ad93	add tree updates in predict motion.	2021-08-11 15:58:40 -04:00
jingyuc	6355b06a8b	use deformable contact detection for the reduced deformable model	2021-08-10 16:31:53 -04:00
jyc-n	3425c01acc	created new free fall example. WIP	2021-08-09 16:26:17 -04:00
jyc-n	042a1f75c9	clean up	2021-08-09 14:54:58 -04:00
jingyuc	a56ce358f3	reduced dofs and interpolated transform needs to be updated from the time_n states in the iteration	2021-08-09 12:43:59 -04:00
jingyuc	0acf18f246	need to update the rigid frame every time when the impulse is applied. reduced external force needs to be zeroed in every iteration.	2021-08-09 11:23:52 -04:00
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