 jingyuc
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0b641b51d7
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add benchmark comparison example. change ReduceddMotorGrasp example to the real world dimensions
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2021-11-21 02:11:55 -05:00 |
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jingyuc
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0279a5a500
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add reduced deformable torus. minor clean up in btReducedSoftBodyHelpers
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2021-11-17 01:09:18 -05:00 |
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jingyuc
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007eea15cb
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no longer need to use start_modes, because all the rigid modes are not saved in .bin files in the preprocessor
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2021-11-16 21:05:48 -05:00 |
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jingyuc
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18f81dcaea
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re-compute all the modes using the new python preprocessor. clean up initialization
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2021-11-16 17:23:19 -05:00 |
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jingyuc
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676221fb3e
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clean up the binary files loader, so that it can work with files without the non-rigid modes
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2021-11-14 02:17:22 -05:00 |
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jingyuc
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c2072b5538
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add mass scaling for reduced deformable model
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2021-11-11 12:27:36 -05:00 |
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jingyuc
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e386b55543
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add reduced deformable urdf parser
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2021-11-04 16:12:08 -04:00 |
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jingyuc
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3ec4d68323
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add grasping comparison
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2021-11-02 17:54:56 -04:00 |
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jingyuc
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df661fde15
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allow set gravity in deformable world. add transformTo for the reduced deformable object
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2021-11-01 15:49:00 -04:00 |
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jingyuc
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2255e26e14
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add a function to compute the total angular momentum
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2021-10-28 14:12:19 -04:00 |
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jingyuc
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e2f6430d19
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fixed a assertion error in btReducedDeformableSolver. clean up outputs
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2021-10-25 17:28:19 -04:00 |
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jingyuc
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b5325a265f
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much better convergence after separating impulse in different directions
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2021-10-22 01:44:02 -04:00 |
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jingyuc
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3a3d8c7a3a
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re-write the fixed constraint. the drift is smaller, but still need some improvements
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2021-10-21 23:14:12 -04:00 |
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jingyuc
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d945e48af2
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clean up the damping codes
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2021-10-13 23:39:36 -04:00 |
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jingyuc
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07cfa9a433
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add cfm and penetration correction to the velocity error for the contact constraint. clean up btReducedSoftBody class. momenumtum conservation WIP
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2021-10-07 15:10:57 -04:00 |
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jingyuc
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1949710131
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clean up momentum conservation test example and the springboard example
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2021-10-04 17:36:17 -04:00 |
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jingyuc
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c4da596778
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now support scaling of reduced deformable object. the order of applying impulse is changeable now
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2021-10-04 11:56:29 -04:00 |
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jingyuc
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1bee1ba4c4
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support applying impulse in alternating order. change several example setups.
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2021-09-28 00:55:12 -04:00 |
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jingyuc
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107c5526eb
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reduced motor grasp example is working
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2021-09-24 13:16:33 -04:00 |
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jingyuc
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5e0a805d73
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separate two tangential direction for the multibody vs reduced deformable contact
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2021-09-21 17:35:35 -04:00 |
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jingyuc
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9de3d25172
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testing multibody vs reduced deformable friction. save files
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2021-09-21 16:22:12 -04:00 |
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jingyuc
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bfd3d1cd8d
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normal impulse for multibody vs reduced deformable contact is working
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2021-09-15 16:45:20 -04:00 |
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jingyuc
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19375d6569
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grasping cube set up
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2021-09-13 23:05:21 -04:00 |
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jingyuc
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593f387a06
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demo setup
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2021-09-13 22:48:08 -04:00 |
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jingyuc
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1c8afcf54f
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clean up reduced body creation
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2021-09-12 23:21:20 -04:00 |
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jingyuc
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b4efd91476
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add support for damping. the fixed constraint is working again with the deltaImpulse form
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2021-09-12 21:53:23 -04:00 |
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jingyuc
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9d1aafc51c
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better support of initial rotation.
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2021-09-10 13:34:34 -04:00 |
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jingyuc
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e62c42f54c
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rotate the modes when the mesh has a initial transformation. new grasping example with motor WIP
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2021-09-09 18:35:07 -04:00 |
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jingyuc
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ce765a8a88
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friction is now applied in a way similar to what the rigid body solver does
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2021-09-08 19:00:55 -04:00 |
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jingyuc
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eef3b73cd2
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fixed a sign issue in the friction of the reduced deformable vs moving rigid body contact
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2021-09-07 18:38:13 -04:00 |
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jingyuc
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3a84b05058
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Added a new friction slope example (ground is rotating). Fixed a problem in the reduced deformable's friction (now clamp the maximum tangential impulse based on the tangential velocity impulse at the current iteration, not the total tangential velocity at the beginning)
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2021-09-06 17:56:32 -04:00 |
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jingyuc
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df07b42318
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contact with moving rigid body is working. There is a sign error when calculating the deltaVelocity of the solverBody
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2021-09-03 17:32:26 -04:00 |
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jingyuc
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f2e114fc81
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fixed the wrong dimension used to calculate the inertia tensor in btReducedSoftBodyHelpers
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2021-09-03 14:47:31 -04:00 |
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jingyuc
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e70fc6453b
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add support for initial rotation
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2021-09-02 21:32:16 -04:00 |
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jingyuc
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93e00054e3
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set up reduced grasping example
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2021-09-02 13:35:14 -04:00 |
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jingyuc
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c2601663e4
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debugging moving rigid vs reduced deformable contact
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2021-09-01 16:36:52 -04:00 |
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jingyuc
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42fac2e364
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fixed a minor issue: disable deactivation for the reduced collision example
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2021-08-31 01:33:38 -04:00 |
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jingyuc
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b1803afbb9
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collision with moving rigid body seems to be working. checking why there is side motion
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2021-08-30 13:19:33 -04:00 |
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jingyuc
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3e76b11d46
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add check for momentum conservation
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2021-08-26 13:41:26 -04:00 |
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jingyuc
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f26e3d133d
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set up the reduced vs rigid collision example
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2021-08-26 12:47:09 -04:00 |
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jingyuc
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6a87310d3c
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friction is working now
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2021-08-25 16:38:57 -04:00 |
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jingyuc
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52abe35e41
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friction seems to be working. However, when the block is only sliding on the surface, there is no friction because no delta normal impulse...need to think
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2021-08-25 00:38:29 -04:00 |
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jingyuc
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c735830f0a
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more stable rigid contact
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2021-08-24 15:08:57 -04:00 |
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jingyuc
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840db372b9
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delta impulse version is working
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2021-08-24 00:40:27 -04:00 |
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jingyuc
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d9152b9cf5
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WIP warm starting
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2021-08-23 01:17:58 -04:00 |
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jingyuc
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368385d5ad
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need to project the impulse on the normal to prevent sliding
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2021-08-21 15:54:34 -04:00 |
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jingyuc
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70ec2f9d46
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use the correct relative position to apply the impulse
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2021-08-18 16:24:46 -04:00 |
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jingyuc
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0444fea9eb
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collision impulse starts to look reasonable, but the motion is still strange.
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2021-08-18 14:31:59 -04:00 |
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jingyuc
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eacdbe67a0
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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
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2021-08-16 14:36:35 -04:00 |
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jingyuc
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9a17391a9a
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modified the code. explicit time stepping should only be implicit in velocity
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2021-08-13 16:34:34 -04:00 |
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