290 Commits

Author	SHA1	Message	Date
Xuchen Han	eefec255cf	Merge remote-tracking branch 'origin/master' into splitImpulse	2020-04-27 20:29:06 -07:00
Xuchen Han	cfbcedeac9	add calculate contact force	2020-04-27 20:17:11 -07:00
Xuchen Han	38657ebdfd	Add new header to CMakeLists	2020-04-27 17:45:30 -07:00
Xuchen Han	5fe898f9f2	refactor krylov solver	2020-04-27 15:48:51 -07:00
Xuchen Han	ad6bc07535	exclude inactive constraints from KKT solve	2020-04-23 16:21:52 -07:00
erwincoumans	8618d60c7c	Merge pull request #2756 from xhan0619/KKT ... Add support for KKT solver.	2020-04-23 09:45:58 -07:00
Xuchen Han	296602fc57	add max split impulse push out distance and switch contact to be double sided	2020-04-23 01:54:37 -07:00
Xuchen Han	bc8f99a640	use m_q for collision detection and m_x for resolving collision	2020-04-22 15:18:54 -07:00
Xuchen Han	95287e458c	support split impulse for deformable vs. rigid contact	2020-04-22 15:18:29 -07:00
Xuchen Han	e92d013730	add new files to CMakeLists	2020-04-22 13:39:45 -07:00
Xuchen Han	78aebd44e2	Merge remote-tracking branch 'origin/master' into KKT	2020-04-20 19:35:46 -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	ebc84b3b8d	use x_n instead of x_{n+1} to calculate deformable penetration distance	2020-04-15 13:33:43 -07:00
Xuchen Han	26ef0e093a	add full preconditioner for KKT system	2020-04-15 13:32:16 -07:00
Xuchen Han	ed3b697320	fix rayTest crash for btSoftBody	2020-04-14 17:13:00 -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	5498c575c8	add guard agaist non-manifold geometry in vtk files	2020-04-09 11:16:28 -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
Erwin Coumans	bd5fde778b	fix uninitialized variables in btSoftBody: if you add new variables, always initialize them!	2020-04-06 20:33:29 -07:00
Xuchen Han	bbdca8a4e8	add support for reduced vectors and modified gram schmidt	2020-04-04 17:19:57 -07:00
Xuchen Han	6a1e3a5164	move deformable collision detect to after momentum solve; clean up code	2020-04-03 22:07:33 -07:00
erwincoumans	e2808eefd8	Merge pull request #2708 from xhan0619/msan ... fix uninitialized variable in btSoftBody	2020-04-01 19:17:08 -07:00
erwincoumans	823d9c64ab	Merge pull request #2706 from fuchuyuan/extrapolateBarycentricWeights ... fix visual and sim mesh matching	2020-04-01 19:16:50 -07:00
Xuchen Han	86e048dddc	fix uninitialized variable in btSoftBody: m_sst is not initialized at the time initializeFaceTree is called	2020-04-01 17:53:24 -07:00
Xuchen Han	80aa523825	Tune deformable collision parameters for more stable deformable vs. deformable contact	2020-04-01 17:46:37 -07:00
Chuyuan Fu	64c7bd0a10	fix visual and sim mesh matching	2020-04-01 15:35:01 -07:00
Xuchen Han	c785be51ce	Initialize uninitialized variables in btSoftBody	2020-03-25 13:24:05 -07:00
erwincoumans	dd2f2e3128	Merge pull request #2682 from xhan0619/master ... Add support for getPose for deformable objects and separate deformable vs. rigid face contact and deformable vs. multibody face contact for flexibility.	2020-03-22 18:44:18 -07:00
Xuchen Han	d7fb405d71	Fix bug in collision flags.	2020-03-21 22:06:05 -07:00
Xuchen Han	3cb18f87cc	fix issue #2675: update dbvt volume immediately after face tree is initialized to prevent empty volumes	2020-03-20 12:34:38 -07:00
Xuchen Han	5d26efd988	formatting and minor bug fix	2020-03-19 12:29:00 -07:00
Xuchen Han	19ed1c952a	separate face contact between deformable and rigid and multibodies	2020-03-18 17:58:46 -07:00
Xuchen Han	cab8b84a8f	Support get body state for deformable objects so that it retrieves the best fit rigid transform	2020-03-18 17:11:20 -07:00
Xuchen Han	27d2cdaef0	Merge remote-tracking branch 'xuchen/master' into teleport	2020-03-15 19:29:06 -07:00
Xuchen Han	a807d4c0c1	Fix include for std::numerical_limits; Fix uninitialized params	2020-03-13 15:03:08 -07:00
Xuchen Han	2d3cd509eb	Fix divide by zero error in repulsion force	2020-03-13 14:52:13 -07:00
Xuchen Han	4b35af3830	change deformable teleport to absolute pose	2020-03-12 16:40:25 -07:00
Xuchen Han	cbf282fb2f	Add support for teleporting deformables	2020-03-12 16:39:28 -07:00
Xuchen Han	7dfef92267	Add support for picking deformable with mouse	2020-03-09 11:19:08 -07:00
Xuchen Han	7762b2957e	fix error in barycentric weight calculation	2020-03-06 16:23:14 -08:00
Xuchen Han	ec0e9892b5	add slider demo	2020-03-06 16:04:34 -08:00
Xuchen Han	4efc983ca5	bug fixes and parameter tuning	2020-03-04 17:22:46 -08:00
Xuchen Han	1cb9a0630f	bug fix in barycentric weight calculation	2020-03-02 22:48:25 -08:00
Xuchen Han	2869a386a7	prevent geometric collision for sleeping deformable objects	2020-03-02 13:32:04 -08:00
Xuchen Han	a6bc125945	formatting	2020-03-02 12:12:04 -08:00