18 Commits

Author	SHA1	Message	Date
erwin coumans	5cf8ee3360	Allow to compile pybullet using btDiscreteDynamicsWorld (no multibodies and no deformables), this allows to create Jacobian and Mass matrix (and A=J*M-1*J_transpose) with MLCP solvers ... Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)	2021-03-15 22:44:55 -07:00
Xuchen Han	c9a0ebb24e	reduce the picking force in self-collision demo	2020-06-26 14:19:50 -07:00
Xuchen Han	70a0ef65d8	fix bug in deformable replulsion force and adjust parameter in deformable self collision	2020-06-26 14:19:44 -07:00
Xuchen Han	04efc9124d	tune exampleBrowser demo parameters	2020-05-20 17:56:41 -07:00
Xuchen Han	165427de01	refactor to support both CG+projection and KKT	2020-04-15 17:46:01 -07:00
Xuchen Han	b3e23cfaa4	parameter tuning for new solver	2020-04-15 14:49:07 -07:00
Xuchen Han	80aa523825	Tune deformable collision parameters for more stable deformable vs. deformable contact	2020-04-01 17:46:37 -07:00
Xuchen Han	7dfef92267	Add support for picking deformable with mouse	2020-03-09 11:19:08 -07:00
Xuchen Han	41ca8b9e59	More parameter tuning for cloth-like behavior	2020-03-06 16:29:32 -08:00
Xuchen Han	1cb9a0630f	bug fix in barycentric weight calculation	2020-03-02 22:48:25 -08:00
Xuchen Han	3bc701c487	Improve intra-deformable collision and deformable self collision	2020-02-06 17:01:20 -08:00
Erwin Coumans	9ca957387f	Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering.	2019-11-12 20:08:49 -08:00
Xuchen Han	23dbea16f3	initialize m_useSelfCollision	2019-10-24 15:28:21 -07:00
Xuchen Han	c610ba49df	fix bug in computing rhs in momentum solve	2019-10-15 13:47:55 -07:00
Xuchen Han	ccaddfca21	documentation 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