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ca9d9b3ee6f509e7b69fcff8195fc6e0e2cf495e
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2928 Commits
Author SHA1 Message Date
jingyuc ca9d9b3ee6 Merge branch 'bulletphysics:master' into master 2022-02-28 14:30:10 -08:00
jingyuc 41ce1cca24 clean up initialization and the rigid flag 2022-02-20 02:27:18 -08:00
erwincoumans 22ef34bb69 Revert "Add deformable contact forces info" 2022-02-18 16:14:53 -08:00
Jingyu Chen c159305910 fixed the incorrect solverBody pairing issue of the reduced deformable solver. still have the problem that the reduced deformable sometimes doesn't show up 2022-02-13 21:30:11 -08:00
jingyuc 11b79c3838 clean up: rename folder 2022-01-30 21:30:43 -08:00
jingyuc cf7b142063 clean up: add missing CMakeLists 2022-01-30 21:13:24 -08:00
jingyuc 6a78b4bb07 clean up: rename the *ReducedSoftBody* as *ReducedDeformableBody* for clarity 2022-01-30 21:12:05 -08:00
jingyuc bfef75f871 clean up: reverted some unnecessary changes 2022-01-30 17:41:44 -08:00
jingyuc fbeafa0249 Merge branch 'bulletphysics:master' into master 2022-01-30 14:32:06 -08:00
Erwin Coumans 6906198132 Implement joint limit for btMultiBody spherical joint. In URDF, add 
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created

See examples/pybullet/examples/spherical_joint_limit.py and
    examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
 2022-01-30 13:04:24 -08:00
Erwin Coumans b602045665 Implement joint limit for btMultiBody spherical joint. In URDF, add 
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created

See examples/pybullet/examples/spherical_joint_limit.py and
    examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
 2022-01-30 13:00:11 -08:00
Erwin Coumans 5d1c8a2ece move the mutex lock to include the 'getNewManifold', dealing with Issue #4117 2022-01-02 21:05:07 -08:00
Jingyu Chen c9a2d733ad modified benchmark example 2021-12-09 20:39:40 -05:00
Jingyu Chen f19133e410 allow multiple reduced deformable object in one sim 2021-12-09 16:55:10 -05:00
erwincoumans 578523eab4 Merge branch 'master' into master 2021-12-06 12:38:25 -08:00
erwincoumans 6a59241074 Merge pull request #4060 from erwincoumans/master 
bump up PyBullet to version 3.21
 2021-12-01 10:29:58 -08:00
Erwin Coumans 9c380f18f6 bump up PyBullet to version 3.21 2021-12-01 10:28:20 -08:00
jingyuc 96605f7a8c Fixed a bug in btReducedSoftBody::transform(): the mesh was rotated/translated incorrectly using btSoftBody::transform(). Now works for mesh whose CoM is not at (0,0,0) 2021-11-29 15:58:33 -05:00
jingyuc 4c9d6275aa Now supports mesh with initial CoM not at the origin 2021-11-22 00:31:24 -05:00
erwincoumans 946d500c8e Merge pull request #3848 from nekomatata/heightmap-early-exit 
Fix early exit in heightfield raycast
 2021-11-18 19:45:26 -08:00
jingyuc 0279a5a500 add reduced deformable torus. minor clean up in btReducedSoftBodyHelpers 2021-11-17 01:09:18 -05:00
jingyuc 8c118515b8 Now only reduced deformable files in bullet3/data/ folder 2021-11-17 00:50:45 -05:00
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 2d08d4047a no need to save the reduced mass matrix because it's always diagonal 2021-11-16 17:41:35 -05:00
jingyuc 18f81dcaea re-compute all the modes using the new python preprocessor. clean up initialization 2021-11-16 17:23:19 -05:00
jingyuc 676221fb3e clean up the binary files loader, so that it can work with files without the non-rigid modes 2021-11-14 02:17:22 -05:00
erwincoumans ccafe333d1 Merge pull request #3979 from johbrust/deformableForces 
Add deformable contact forces info
 2021-11-13 22:32:43 -08:00
jingyuc c2072b5538 add mass scaling for reduced deformable model 2021-11-11 12:27:36 -05:00
jingyuc 7fafbd7718 reduced deformable is now working with pybullet 2021-11-05 18:02:15 -04:00
jingyuc 0a6f278663 reduced deformable cube free fall example is now working in pybullet 2021-11-02 01:12:09 -04:00
jingyuc df661fde15 allow set gravity in deformable world. add transformTo for the reduced deformable object 2021-11-01 15:49:00 -04:00
QiaodongCui a672536f43 Update btCollisionDispatcherMt.cpp 2021-10-29 13:26:02 -04:00
QiaodongCui e9d40d0726 Update btCollisionDispatcherMt.h 2021-10-29 13:25:03 -04:00
jingyuc 2255e26e14 add a function to compute the total angular momentum 2021-10-28 14:12:19 -04:00
jingyuc 3540400a9d Merge branch 'bulletphysics:master' into master 2021-10-28 01:39:07 -04:00
jingyuc e2f6430d19 fixed a assertion error in btReducedDeformableSolver. clean up outputs 2021-10-25 17:28:19 -04:00
erwincoumans e4a450a53d Merge pull request #3980 from akien-mga/patch-1 
SoftBody: Fix local variable shadowing warning
 2021-10-25 09:10:29 -07:00
erwincoumans d4598bf1cf Merge pull request #3981 from akien-mga/patch-2 
btSerializer: Remove unused but set variable
 2021-10-25 09:08:53 -07:00
erwincoumans f79463b699 Merge pull request #3991 from akien-mga/uwp-disable-processor-information 
LinearMath: Fix TaskScheduler build on UWP by disabling `getProcessorInformation`
 2021-10-25 09:08:18 -07:00
jingyuc b5325a265f much better convergence after separating impulse in different directions 2021-10-22 01:44:02 -04:00
jingyuc 3a3d8c7a3a re-write the fixed constraint. the drift is smaller, but still need some improvements 2021-10-21 23:14:12 -04:00
jingyuc d945e48af2 clean up the damping codes 2021-10-13 23:39:36 -04:00
Erwin Coumans 90e331a239 bump PyBullet version to 3.20 2021-10-11 13:52:13 -07:00
jingyuc bd6e49bcc1 disable all debug printout 2021-10-11 11:24:17 -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
Rémi Verschelde 41f03e78a5 LinearMath: Fix TaskScheduler build on UWP by disabling getProcessorInformation 
Disables the feature that requires loading kernel32 dynamically.
 2021-10-06 07:47:44 +02:00
jingyuc 1949710131 clean up momentum conservation test example and the springboard example 2021-10-04 17:36:17 -04:00
jingyuc c4da596778 now support scaling of reduced deformable object. the order of applying impulse is changeable now 2021-10-04 11:56:29 -04:00
Rémi Verschelde 364796d1e5 btSerializer: Remove unused but set variable 
Fixes a Clang/Emscripten warning.
 2021-09-29 16:32:14 +02:00
Rémi Verschelde ba65e909bc SoftBody: Fix local variable shadowing warning 2021-09-29 15:40:59 +02:00