30 Commits

Author	SHA1	Message	Date
jingyuc	b1803afbb9	collision with moving rigid body seems to be working. checking why there is side motion	2021-08-30 13:19:33 -04:00
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	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	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	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