Jingyu Chen
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f19133e410
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allow multiple reduced deformable object in one sim
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2021-12-09 16:55:10 -05:00 |
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jingyuc
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96605f7a8c
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Fixed a bug in btReducedSoftBody::transform(): the mesh was rotated/translated incorrectly using btSoftBody::transform(). Now works for mesh whose CoM is not at (0,0,0)
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2021-11-29 15:58:33 -05:00 |
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jingyuc
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4c9d6275aa
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Now supports mesh with initial CoM not at the origin
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2021-11-22 00:31:24 -05:00 |
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jingyuc
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007eea15cb
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no longer need to use start_modes, because all the rigid modes are not saved in .bin files in the preprocessor
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2021-11-16 21:05:48 -05:00 |
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jingyuc
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2d08d4047a
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no need to save the reduced mass matrix because it's always diagonal
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2021-11-16 17:41:35 -05:00 |
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jingyuc
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18f81dcaea
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re-compute all the modes using the new python preprocessor. clean up initialization
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2021-11-16 17:23:19 -05:00 |
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jingyuc
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676221fb3e
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clean up the binary files loader, so that it can work with files without the non-rigid modes
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2021-11-14 02:17:22 -05:00 |
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jingyuc
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c2072b5538
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add mass scaling for reduced deformable model
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2021-11-11 12:27:36 -05:00 |
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jingyuc
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7fafbd7718
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reduced deformable is now working with pybullet
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2021-11-05 18:02:15 -04:00 |
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jingyuc
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0a6f278663
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reduced deformable cube free fall example is now working in pybullet
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2021-11-02 01:12:09 -04:00 |
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jingyuc
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df661fde15
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allow set gravity in deformable world. add transformTo for the reduced deformable object
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2021-11-01 15:49:00 -04:00 |
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jingyuc
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2255e26e14
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add a function to compute the total angular momentum
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2021-10-28 14:12:19 -04:00 |
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jingyuc
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3a3d8c7a3a
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re-write the fixed constraint. the drift is smaller, but still need some improvements
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2021-10-21 23:14:12 -04:00 |
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jingyuc
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d945e48af2
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clean up the damping codes
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2021-10-13 23:39:36 -04:00 |
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jingyuc
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07cfa9a433
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add cfm and penetration correction to the velocity error for the contact constraint. clean up btReducedSoftBody class. momenumtum conservation WIP
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2021-10-07 15:10:57 -04:00 |
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jingyuc
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1949710131
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clean up momentum conservation test example and the springboard example
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2021-10-04 17:36:17 -04:00 |
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jingyuc
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c4da596778
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now support scaling of reduced deformable object. the order of applying impulse is changeable now
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2021-10-04 11:56:29 -04:00 |
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jingyuc
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1bee1ba4c4
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support applying impulse in alternating order. change several example setups.
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2021-09-28 00:55:12 -04:00 |
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jingyuc
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107c5526eb
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reduced motor grasp example is working
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2021-09-24 13:16:33 -04:00 |
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jingyuc
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bfd3d1cd8d
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normal impulse for multibody vs reduced deformable contact is working
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2021-09-15 16:45:20 -04:00 |
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jingyuc
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b4efd91476
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add support for damping. the fixed constraint is working again with the deltaImpulse form
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2021-09-12 21:53:23 -04:00 |
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jingyuc
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9d1aafc51c
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better support of initial rotation.
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2021-09-10 13:34:34 -04:00 |
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jingyuc
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e62c42f54c
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rotate the modes when the mesh has a initial transformation. new grasping example with motor WIP
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2021-09-09 18:35:07 -04:00 |
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jingyuc
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3a84b05058
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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)
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2021-09-06 17:56:32 -04:00 |
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jingyuc
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df07b42318
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contact with moving rigid body is working. There is a sign error when calculating the deltaVelocity of the solverBody
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2021-09-03 17:32:26 -04:00 |
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jingyuc
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e70fc6453b
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add support for initial rotation
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2021-09-02 21:32:16 -04:00 |
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jingyuc
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93e00054e3
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set up reduced grasping example
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2021-09-02 13:35:14 -04:00 |
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jingyuc
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42fac2e364
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fixed a minor issue: disable deactivation for the reduced collision example
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2021-08-31 01:33:38 -04:00 |
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jingyuc
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6a87310d3c
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friction is working now
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2021-08-25 16:38:57 -04:00 |
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jingyuc
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52abe35e41
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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
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2021-08-25 00:38:29 -04:00 |
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jingyuc
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166dc2865d
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frictionless contact also works with reduced modes enabled
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2021-08-24 16:30:33 -04:00 |
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jingyuc
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840db372b9
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delta impulse version is working
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2021-08-24 00:40:27 -04:00 |
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jingyuc
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d9152b9cf5
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WIP warm starting
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2021-08-23 01:17:58 -04:00 |
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jingyuc
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368385d5ad
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need to project the impulse on the normal to prevent sliding
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2021-08-21 15:54:34 -04:00 |
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jingyuc
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0444fea9eb
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collision impulse starts to look reasonable, but the motion is still strange.
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2021-08-18 14:31:59 -04:00 |
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jingyuc
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eacdbe67a0
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reduced velocity should be updated from i-th iteration instead of from the predicted state, because thexternal force has no memory of the previous iteration
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2021-08-16 14:36:35 -04:00 |
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jingyuc
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9a17391a9a
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modified the code. explicit time stepping should only be implicit in velocity
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2021-08-13 16:34:34 -04:00 |
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jyc-n
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d6d8c3ceac
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reworking static constraint WIP
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2021-08-12 22:36:39 -04:00 |
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jingyuc
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35f7a1a569
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add new reduced deformable contact constraint class. able to call the reduced soft body's apply impulse function
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2021-08-12 12:31:44 -04:00 |
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jingyuc
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6355b06a8b
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use deformable contact detection for the reduced deformable model
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2021-08-10 16:31:53 -04:00 |
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jyc-n
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3425c01acc
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created new free fall example. WIP
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2021-08-09 16:26:17 -04:00 |
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jyc-n
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042a1f75c9
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clean up
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2021-08-09 14:54:58 -04:00 |
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jingyuc
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a56ce358f3
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reduced dofs and interpolated transform needs to be updated from the time_n states in the iteration
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2021-08-09 12:43:59 -04:00 |
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jingyuc
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0acf18f246
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need to update the rigid frame every time when the impulse is applied. reduced external force needs to be zeroed in every iteration.
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2021-08-09 11:23:52 -04:00 |
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jingyuc
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4f66d8bb87
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update reduced variables and full space position every time applied the force
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2021-08-06 17:10:58 -04:00 |
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jyc-n
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252aa91e9a
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reduced force WIP
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2021-08-06 02:12:39 -04:00 |
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jingyuc
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32398d4d7f
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multiple fixed nodes seem okay
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2021-08-05 00:00:12 -04:00 |
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jingyuc
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fdfb08b72f
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single fixed constraint for the rigid frame is working
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2021-08-04 22:44:53 -04:00 |
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jingyuc
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35ec8b39a7
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re-work the external force application. clean up position and velocity update
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2021-08-02 11:31:09 -04:00 |
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jingyuc
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a37d23fa24
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re-work the simulation time loop in order to support fixed constraints. still wip
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2021-07-30 02:08:27 -04:00 |
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