34 Commits

Author	SHA1	Message	Date
jingyuc	bd6e49bcc1	disable all debug printout	2021-10-11 11:24:17 -04:00
jingyuc	93e00054e3	set up reduced grasping example	2021-09-02 13:35:14 -04:00
jingyuc	c2601663e4	debugging moving rigid vs reduced deformable contact	2021-09-01 16:36:52 -04:00
jingyuc	42fac2e364	fixed a minor issue: disable deactivation for the reduced collision example	2021-08-31 01:33:38 -04:00
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	c735830f0a	more stable rigid contact	2021-08-24 15:08:57 -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	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
Xuchen Han	f23e745666	clang format PhysicsServerCommandProcessor and BulletSoftBody	2020-06-17 17:20:39 -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	26ef0e093a	add full preconditioner for KKT system	2020-04-15 13:32:16 -07:00
Xuchen Han	8783b4411c	add diagonal preconditioner for KKT system	2020-04-12 12:00:42 -07:00
Xuchen Han	1926eadb92	bug fix in CR solver and face contact	2020-04-11 15:02:26 -07:00
Xuchen Han	a274bcbfa3	add position error into deformable vs. rigid solve	2019-12-31 19:18:37 -08:00
Xuchen Han	442047a862	more bug fixes	2019-12-27 13:16:31 -08:00
Xuchen Han	89553c44e7	solve constraints involving deformable objects according to islands	2019-12-18 23:11:34 -08:00
Xuchen Han	f65a8b03c0	separate deformable contact solve by islands WIP	2019-12-17 18:27:23 -08:00
Xuchen Han	d38ea87027	add gripper with deformable cloth demo	2019-12-13 14:33:54 -08:00
Xuchen Han	13314360a8	add option for deformable rigid split impulse	2019-11-05 18:07:58 -08:00
Xuchen Han	774937bcd6	add option to turn face contact on/off	2019-10-15 13:53:27 -07:00
Xuchen Han	c610ba49df	fix bug in computing rhs in momentum solve	2019-10-15 13:47:55 -07:00
Xuchen Han	c178905998	remove siData	2019-09-28 14:44:42 -07:00
Xuchen Han	657a7468b3	documentation and optimization	2019-09-28 14:44:41 -07:00
Xuchen Han	416e516735	add naive implementation of self collision	2019-09-28 14:44:41 -07:00
Xuchen Han	0501fe1bbd	add cloth demo to show deformable friction	2019-09-28 14:44:41 -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
Xuchen Han	8b38076376	update license	2019-08-24 12:44:58 -07:00
Xuchen Han	6beeac7065	refactor contact solve	2019-08-23 17:32:41 -07:00