32 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	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	f7354751a9	improve contact stability for implicit scheme	2020-06-17 18:43:49 -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
Xuchen Han	a9449601cd	add multibody split impulse when solving contact with deformable	2020-05-03 00:51:46 -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
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	95287e458c	support split impulse for deformable vs. rigid contact	2020-04-22 15:18:29 -07:00
Xuchen Han	165427de01	refactor to support both CG+projection and KKT	2020-04-15 17:46:01 -07:00
Xuchen Han	26ef0e093a	add full preconditioner for KKT system	2020-04-15 13:32:16 -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
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	d7442cee21	add strain rate limiting	2019-12-31 14:04:18 -08:00
Xuchen Han	65b75e5937	bug fixes for face contact to prevent sticking	2019-12-27 12:43:08 -08:00
Xuchen Han	13314360a8	add option for deformable rigid split impulse	2019-11-05 18:07:58 -08:00
Xuchen Han	9ebbab959c	use safenorm	2019-10-31 12:53:12 -07:00
Xuchen Han	ec1ef0c465	add strain limiting to face contact to improve stability	2019-10-31 12:53:12 -07:00
Xuchen Han	c6af3aa3f8	fix bug in deformable vs. deformable friction	2019-10-23 12:17:21 -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	d761b2cd68	add some documentation	2019-09-28 14:44:41 -07:00
Xuchen Han	1bfb226be8	add support for deformable vs. deformable contact	2019-09-28 14:44:41 -07:00
Xuchen Han	403eb62dfa	code clean up and optimization	2019-09-28 14:44:41 -07:00
Xuchen Han	109d9353af	switched to deformable rigid contact from Jacobi to Gauss Seidel	2019-09-28 14:44:41 -07:00
Xuchen Han	f99cf56149	finished refactoring; start adding face contact	2019-09-28 14:44:41 -07:00