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8,452 Commits 19 Branches 27 Tags
cb1cd969a8d62e6ed775649d61c2f3a7f94edf8f
Commit Graph
27 Commits
Author SHA1 Message Date
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