62 Commits

Author	SHA1	Message	Date
Erwin Coumans	dc19da18ee	fix memory leak due to custom container not handling copy operator for recursive containers	2020-02-22 10:54:23 -08:00
Xuchen Han	dafed01013	float->btScalar; add optional post collision damping	2020-02-07 13:22:15 -08:00
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	79c1343b6a	change number of quadrature points from 3 to 2	2019-12-31 14:03:54 -08:00
Xuchen Han	a808d74895	fix bug in the pretransform of rigid body interpolation transform	2019-12-30 10:55:30 -08:00
Xuchen Han	442047a862	more bug fixes	2019-12-27 13:16:31 -08:00
Xuchen Han	65b75e5937	bug fixes for face contact to prevent sticking	2019-12-27 12:43:08 -08:00
Xuchen Han	39df98465e	set a smaller dt for deformable_ball.py for stability and typo fix	2019-11-25 17:07:00 -08:00
Xuchen Han	abd7a556e1	Merge remote-tracking branch 'origin/master'	2019-11-25 15:29:25 -08:00
Erwin Coumans	96deb42aa5	pybullet.createSoftBodyAnchor	2019-11-19 19:20:08 -08:00
Erwin Coumans	431a71ebad	fix indexing in tetrahedra	2019-11-19 16:27:57 -08:00
Xuchen Han	2edd94c722	add option to approximate face contact with collision quadrature points	2019-11-12 17:10:39 -08:00
Xuchen Han	42b5c93bad	approximate face contact WIP	2019-11-12 11:50:47 -08:00
Xuchen Han	794614f269	change collision detection between deformables to from continuous to discrete	2019-11-11 13:58:03 -08:00
Xuchen Han	059e23d381	fix old soft body collision issue #2473	2019-11-07 13:00:13 -08:00
Xuchen Han	23dbea16f3	initialize m_useSelfCollision	2019-10-24 15:28:21 -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	a7222d8a9f	add option to set stress clamping limit	2019-10-15 13:51:33 -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	3b945597d1	prevent narrow phase collision detection between rigid and soft when both are sleeping	2019-10-15 13:50:12 -07:00
Xuchen Han	e13578fee3	add option to turn self-collision on/off	2019-10-15 13:47:55 -07:00
Xuchen Han	d0e4bbf04d	fix gravity set up	2019-10-15 13:47:54 -07:00
Xuchen Han	cb46440e17	add normal cone optimization for self-collision	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	ae42cc561e	add damping energy in line search	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	acfcc3fc9a	updates to interpolation for rendering mesh	2019-09-28 14:43:40 -07:00
Xuchen Han	a47eeb8225	add render mesh interpolation from simulation mesh	2019-09-28 14:43:40 -07:00
Xuchen Han	d4a15e016e	add newton solver	2019-09-04 18:48:00 -07:00
Xuchen Han	e73f70efa2	swap m_x and m_q in softbody to align with rendering convention	2019-09-04 18:48:00 -07:00
Xuchen Han	4df31305a8	remove iostream dependency	2019-08-21 22:31:30 -07:00
Xuchen Han	76d37ec475	bug fix in updateDeformation	2019-08-20 10:37:25 -07:00
Xuchen Han	54bd93aad2	move deformation update to before explicit force calculation to prevent repetition of F calculation	2019-08-19 11:30:25 -07:00
Xuchen Han	fce1296413	fix the issue that compound objects's child does not get rotated in the material space in interpolationWorldTransform	2019-08-16 13:45:29 -07:00
Xuchen Han	deb7c152c4	add corotated model to lagrangian forces	2019-08-16 13:45:05 -07:00
Xuchen Han	e5231b5cc5	restore behaviors of btSoftBody	2019-08-06 10:52:19 -07:00
Xuchen Han	54303e02b1	perform position correction only when objects are penetrating	2019-08-02 13:21:06 -07:00
Xuchen Han	f1e7ce9ce1	add multibody interpolation transform so that collision detection is consistent with rigidbody	2019-08-02 13:15:06 -07:00
Xuchen Han	ec403f790d	factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody	2019-08-02 13:15:06 -07:00
Xuchen Han	243b9fc8c7	combat friction drift in positionCorrect by changing velocity and change it back (effectively only changing position)	2019-08-02 13:14:15 -07:00