13 Commits

Author	SHA1	Message	Date
jingyuc	007eea15cb	no longer need to use start_modes, because all the rigid modes are not saved in .bin files in the preprocessor	2021-11-16 21:05:48 -05:00
jingyuc	e386b55543	add reduced deformable urdf parser	2021-11-04 16:12:08 -04:00
jingyuc	3ec4d68323	add grasping comparison	2021-11-02 17:54:56 -04:00
jingyuc	d945e48af2	clean up the damping codes	2021-10-13 23:39:36 -04:00
jingyuc	07cfa9a433	add cfm and penetration correction to the velocity error for the contact constraint. clean up btReducedSoftBody class. momenumtum conservation WIP	2021-10-07 15:10:57 -04:00
jingyuc	19375d6569	grasping cube set up	2021-09-13 23:05:21 -04:00
jingyuc	593f387a06	demo setup	2021-09-13 22:48:08 -04:00
jingyuc	1c8afcf54f	clean up reduced body creation	2021-09-12 23:21:20 -04:00
jingyuc	b4efd91476	add support for damping. the fixed constraint is working again with the deltaImpulse form	2021-09-12 21:53:23 -04:00
jingyuc	e62c42f54c	rotate the modes when the mesh has a initial transformation. new grasping example with motor WIP	2021-09-09 18:35:07 -04:00
jingyuc	eef3b73cd2	fixed a sign issue in the friction of the reduced deformable vs moving rigid body contact	2021-09-07 18:38:13 -04:00
jingyuc	3a84b05058	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)	2021-09-06 17:56:32 -04:00
jingyuc	93e00054e3	set up reduced grasping example	2021-09-02 13:35:14 -04:00