3587 Commits

Author	SHA1	Message	Date
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	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
jingyuc	1bee1ba4c4	support applying impulse in alternating order. change several example setups.	2021-09-28 00:55:12 -04:00
jingyuc	354c5a6e62	Merge branch 'bulletphysics:master' into master	2021-09-26 17:49:41 -04:00
jingyuc	107c5526eb	reduced motor grasp example is working	2021-09-24 13:16:33 -04:00
jingyuc	5e0a805d73	separate two tangential direction for the multibody vs reduced deformable contact	2021-09-21 17:35:35 -04:00
jingyuc	9de3d25172	testing multibody vs reduced deformable friction. save files	2021-09-21 16:22:12 -04:00
erwincoumans	9c37ca5185	Merge pull request #3950 from bttner/fix_external_force_command ... Fix: reference frame issue of external force command processor (Physics Server)	2021-09-20 14:34:52 -07:00
erwincoumans	47c3f5e994	Merge pull request #3963 from erwincoumans/master ... revert linkNames in createMultiBody, we cannot pass pointers pointing… …	2021-09-20 13:07:30 -07:00
Erwin Coumans	87605ca4c8	revert linkNames in createMultiBody, we cannot pass pointers pointing to local memory (storing the string) around into shared memory or over the network.	2021-09-20 12:22:30 -07:00
jingyuc	064fdc40bd	Merge branch 'bulletphysics:master' into master	2021-09-16 16:09:55 -04:00
jingyuc	bfd3d1cd8d	normal impulse for multibody vs reduced deformable contact is working	2021-09-15 16:45:20 -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
Aaron Franke	ad74cfe6c8	Update Bullet URL in copyright statements	2021-09-13 09:06:14 -05:00
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	9d1aafc51c	better support of initial rotation.	2021-09-10 13:34:34 -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	ce765a8a88	friction is now applied in a way similar to what the rigid body solver does	2021-09-08 19:00:55 -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	3a70641c65	Merge branch 'bulletphysics:master' into master	2021-09-07 15:25:11 -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	df07b42318	contact with moving rigid body is working. There is a sign error when calculating the deltaVelocity of the solverBody	2021-09-03 17:32:26 -04:00
jingyuc	f2e114fc81	fixed the wrong dimension used to calculate the inertia tensor in btReducedSoftBodyHelpers	2021-09-03 14:47:31 -04:00
jingyuc	e70fc6453b	add support for initial rotation	2021-09-02 21:32:16 -04:00
erwincoumans	b638300fe4	Merge pull request #3951 from erwincoumans/master ... implement resetMeshData for deformable bodies, fix tiny_renderer standalone example	2021-09-02 18:03:23 -07:00
Erwin Coumans	b6df08b553	implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms.	2021-09-02 17:27:05 -07:00
jingyuc	93e00054e3	set up reduced grasping example	2021-09-02 13:35:14 -04:00
Felix Büttner	4b6ec20b30	External force and torque frame fix	2021-09-02 17:40:18 +02:00
erwin coumans	3577ef8108	Merge branch 'master' of github.com:erwincoumans/bullet3 into master	2021-09-01 15:00:10 -07:00
erwin coumans	7de63bdbc5	fix tiny_renderer standalone example	2021-09-01 15:00:01 -07:00
jingyuc	c2601663e4	debugging moving rigid vs reduced deformable contact	2021-09-01 16:36:52 -04:00
jingyuc	634c8b7b38	Merge branch 'bulletphysics:master' into master	2021-08-31 20:16:15 -04:00
jingyuc	42fac2e364	fixed a minor issue: disable deactivation for the reduced collision example	2021-08-31 01:33:38 -04:00
erwincoumans	31b8841efc	Merge pull request #3948 from erwincoumans/master ... add low-resolution Laikago (for faster rendering in CPU renderer) and cleanup sdf files	2021-08-30 13:01:15 -07:00
Erwin Coumans	68424feb2d	don't use empty frame for pose in sdf files ... use hint for clang that if (0) is intentional	2021-08-30 19:40:20 +00:00
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
erwincoumans	5ec0820c0e	Merge pull request #3920 from araffin/feat/sb3 ... Migrate to Stable-Baselines3	2021-08-29 15:01:27 -07:00
jingyuc	3e76b11d46	add check for momentum conservation	2021-08-26 13:41:26 -04:00
jingyuc	f26e3d133d	set up the reduced vs rigid collision example	2021-08-26 12:47:09 -04:00
jingyuc	6a87310d3c	friction is working now	2021-08-25 16:38:57 -04:00
jingyuc	52abe35e41	friction seems to be working. However, when the block is only sliding on the surface, there is no friction because no delta normal impulse...need to think	2021-08-25 00:38:29 -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	368385d5ad	need to project the impulse on the normal to prevent sliding	2021-08-21 15:54:34 -04:00
Chuyuan Fu	e16c9bb1cc	implement request deformable contact info	2021-08-18 18:48:35 -07:00