89 Commits

Author	SHA1	Message	Date
Xuchen Han	e0b554787f	Merge remote-tracking branch 'origin/master' into implicit-contact	2020-06-19 15:05:34 -07:00
Xuchen Han	b969f14d21	run clang format	2020-06-19 14:52:44 -07:00
Xuchen Han	395f8c6117	add implicit point contact for corotated linear elasticity objects	2020-06-19 14:49:58 -07:00
Xuchen Han	f7354751a9	improve contact stability for implicit scheme	2020-06-17 18:43:49 -07:00
Xuchen Han	f23e745666	clang format PhysicsServerCommandProcessor and BulletSoftBody	2020-06-17 17:20:39 -07:00
Xuchen Han	9cfe16abb4	add corotated linear elasticity	2020-06-16 15:57:58 -07:00
Xuchen Han	d1d2dad2e6	do not apply deformable contact impulse to points and faces constrained in rigid/deformable solve	2020-05-20 17:56:20 -07:00
Xuchen Han	5f2ac5e922	parameter tuning	2020-05-11 15:54:15 -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	5cb252dc4c	treat the feature with the deepest penetration as static in deformable contact	2020-04-15 14:48:53 -07:00
Xuchen Han	26ef0e093a	add full preconditioner for KKT system	2020-04-15 13:32:16 -07:00
Xuchen Han	8783b4411c	add diagonal preconditioner for KKT system	2020-04-12 12:00:42 -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	6469e0f181	Lagrange Multiplier working	2020-04-08 15:12:28 -07:00
Xuchen Han	6e14a274ca	add conjugate residual solver	2020-04-08 12:19:18 -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	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	89553c44e7	solve constraints involving deformable objects according to islands	2019-12-18 23:11:34 -08:00
Xuchen Han	794614f269	change collision detection between deformables to from continuous to discrete	2019-11-11 13:58:03 -08:00
erwincoumans	d6dbc9d3ca	Merge pull request #2467 from xhan0619/split-impulse ... Split impulse	2019-11-06 14:23:26 -08:00
Xuchen Han	13314360a8	add option for deformable rigid split impulse	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	3d622a3bee	enable deformable sleeping	2019-10-16 12:00:02 -07:00
Xuchen Han	05c25a27de	address comment from ldowns	2019-10-15 13:51:33 -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	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	c610ba49df	fix bug in computing rhs in momentum solve	2019-10-15 13:47:55 -07:00
Xuchen Han	96bf2f2ff5	address PR comments	2019-10-01 14:47:49 -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	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	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
Xuchen Han	ef5aa6e73b	add options to toggle between whether line search is used & add more documentation	2019-09-28 14:44:41 -07:00
Xuchen Han	0501fe1bbd	add cloth demo to show deformable friction	2019-09-28 14:44:41 -07:00
Xuchen Han	d761b2cd68	add some documentation	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	1bc75cc833	add relative tolerance for linear solver and newton with line search	2019-09-28 14:43:40 -07:00