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d6dbc9d3ca86eb239d8fcbf1e4576e577c719416
Commit Graph

199 Commits

Author SHA1 Message Date
erwincoumans
d6dbc9d3ca Merge pull request #2467 from xhan0619/split-impulse 
Split impulse
 2019-11-06 14:23:26 -08:00
Xuchen Han
9068b7ed91 turn off SVD 2019-11-05 18:16:13 -08:00
Xuchen Han
b55ebac2d9 update CMakeLists 2019-11-05 18:09:38 -08:00
Xuchen Han
13314360a8 add option for deformable rigid split impulse 2019-11-05 18:07:58 -08:00
Xuchen Han
fb85b2e05f add a linear elasticity model 2019-11-05 18:07:58 -08:00
Xuchen Han
4347c03459 turn on SVD and use fewer CG iterations 2019-11-03 12:47:08 -08:00
Xuchen Han
1bd0eee0ff fix indexing bug in deformable sleeping 2019-11-03 12:44:45 -08:00
Xuchen Han
93835c195b turn off SVD 2019-10-31 12:57:19 -07:00
Xuchen Han
3f1e061966 turn on SVD 2019-10-31 12:53:12 -07:00
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
Chuyuan Fu
41eb074406 avoid dividing by 0 2019-10-31 12:53:12 -07:00
Chuyuan Fu
ae7c3e0dee compute COM taking non-uniform model into account 2019-10-31 12:53:12 -07:00
Chuyuan Fu
74571d79e7 add compute softbody com 2019-10-31 12:53:12 -07:00
Xuchen Han
6dce8e4ff5 cull out most of the SVD calculation when stress is low 2019-10-29 22:39:10 -07:00
Erwin Coumans
136607151e use mult instead of max to combine friction properties 
use 0.5 friction for ground for a demo, and also a larger grid size
update description of deformable algorithm
disable SVD for now, has some issue with some compilers
 2019-10-28 12:53:59 -07:00
Xuchen Han
23dbea16f3 initialize m_useSelfCollision 2019-10-24 15:28:21 -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
3d622a3bee enable deformable sleeping 2019-10-16 12:00:02 -07:00
Xuchen Han
774937bcd6 add option to turn face contact on/off 2019-10-15 13:53:27 -07:00
Xuchen Han
05c25a27de address comment from ldowns 2019-10-15 13:51:33 -07:00
Xuchen Han
a7222d8a9f add option to set stress clamping limit 2019-10-15 13:51:33 -07:00
Xuchen Han
9e29f7108d remove Eigen 2019-10-15 13:50:13 -07:00
Xuchen Han
9546390fd6 clamp stress for NeoHookean in singular value space 2019-10-15 13:50:13 -07:00
Xuchen Han
e87df18544 switch to damping model from Irvine 05 for its SPDness 2019-10-15 13:50:13 -07:00
Xuchen Han
87546bb7c3 prevent velocity of deformable from getting too big from explicit force 2019-10-15 13:50:13 -07:00
Xuchen Han
0d742273c1 set default drag coefficient to 0 2019-10-15 13:50:13 -07:00
Xuchen Han
25a566c378 finish deformable sleeping and add option for drag 2019-10-15 13:50:13 -07:00
Xuchen Han
0d7ff567e6 bug fix in deformable predict motion 2019-10-15 13:50:13 -07:00
Xuchen Han
58a67f82fb set default integration scheme to explicit 2019-10-15 13:50:13 -07:00
Xuchen Han
ca92cf067e fix removeCollisionObject for Deformable world 2019-10-15 13:50:12 -07:00
Xuchen Han
3b945597d1 prevent narrow phase collision detection between rigid and soft when both are sleeping 2019-10-15 13:50:12 -07:00
Xuchen Han
c610ba49df fix bug in computing rhs in momentum solve 2019-10-15 13:47:55 -07:00
Xuchen Han
e13578fee3 add option to turn self-collision on/off 2019-10-15 13:47:55 -07:00
Xuchen Han
4220c7f94c tune CG tolerance 2019-10-15 13:47:54 -07:00
Xuchen Han
d0e4bbf04d fix gravity set up 2019-10-15 13:47:54 -07:00
Xuchen Han
96bf2f2ff5 address PR comments 2019-10-01 14:47:49 -07:00
Xuchen Han
212b990b0e remove auto and add include 2019-09-28 14:44:42 -07:00
Xuchen Han
9f11ac5d4d add include 2019-09-28 14:44:42 -07:00
Xuchen Han
c178905998 remove siData 2019-09-28 14:44:42 -07:00
Xuchen Han
ccaddfca21 documentation and optimization 2019-09-28 14:44:42 -07:00
Xuchen Han
a0acfd5195 code clean up and optimization 2019-09-28 14:44:42 -07:00
Xuchen Han
977bdb4e0e adjust parameters 2019-09-28 14:44:41 -07:00
Xuchen Han
cb46440e17 add normal cone optimization for self-collision 2019-09-28 14:44:41 -07:00
Xuchen Han
657a7468b3 documentation and optimization 2019-09-28 14:44:41 -07:00
Xuchen Han
20abbc9ee7 add dynamic friction for deformable contact 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
be7383cc03 update examples to test different time stepping schemes (namely explicit, implicit and implicit with line search)/ 2019-09-28 14:44:41 -07:00