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9,029 Commits 19 Branches 27 Tags
f1e86bf2571b4abb441bc1ae803966744cfb213c
Commit Graph
48 Commits
Author SHA1 Message Date
jingyuc f1e86bf257 test modes kinematics 2021-07-14 16:00:28 -04:00
Chuyuan Fu 4bc8a4ca79 fix segfault when removing softbody 2020-08-31 10:50:23 -07:00
Xuchen Han f23e745666 clang format PhysicsServerCommandProcessor and BulletSoftBody 2020-06-17 17:20:39 -07:00
Xuchen Han cb1cd969a8 allow positive penetration to pose inactive constraints for more stability 2020-05-08 16:51:53 -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 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 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 6a1e3a5164 move deformable collision detect to after momentum solve; clean up code 2020-04-03 22:07:33 -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 2869a386a7 prevent geometric collision for sleeping deformable objects 2020-03-02 13:32:04 -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
erwincoumans 66ffa329c8 Merge pull request #2577 from xhan0619/master 
Add position error into deformable vs. rigid contact
 2020-01-11 16:05:15 -08:00
Xuchen Han d7442cee21 add strain rate limiting 2019-12-31 14:04:18 -08:00
Erwin Coumans 3fa67ea7d4 fix memory leak in previous commit (delete m_solverDeformableBodyIslandCallback!) 2019-12-20 18:18:45 -08:00
Xuchen Han f65a8b03c0 separate deformable contact solve by islands WIP 2019-12-17 18:27:23 -08:00
Erwin Coumans 1f6d504e44 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 10:22:56 -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 362bc6d9a3 fix the bug that prevents the pd control forces/torques being added 2019-11-08 17:08:59 -08:00
Xuchen Han 13314360a8 add option for deformable rigid split impulse 2019-11-05 18:07:58 -08:00
Erwin Coumans 136607151e use mult instead of max to combine friction properties 
use 0.5 friction for ground for a demo, and also a larger grid size
update description of deformable algorithm
disable SVD for now, has some issue with some compilers
 2019-10-28 12:53:59 -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 ca92cf067e fix removeCollisionObject for Deformable world 2019-10-15 13:50:12 -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 2f9184acc9 remove position correction 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 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 403eb62dfa code clean up and optimization 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 36278edc00 add back preTickCallback & disable position Correction for more stability 2019-09-28 14:43:40 -07:00
Xuchen Han 7d1b93cc17 contact solve for newton 2019-09-04 18:48:00 -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 6beeac7065 refactor contact solve 2019-08-23 17:32:41 -07:00
Xuchen Han ccd8c3a47c fix scope override in btMultiBody and scalar type inconsistency in btDeformableBodySolver 2019-08-22 10:12:14 -07:00
Xuchen Han 4e1c1a30a7 remove world dependency from btDeformableBodySolver,btDeformableBackwardEulerObjective, and btCGProjection; reduce invasion into multibody world, all chnages are cosmetic now 2019-08-21 22:17:46 -07:00
Xuchen Han 3bf3b66fb7 add method to remove softbody 2019-08-19 19:18:02 -07:00
Xuchen Han 04595961cd add velocity clamp to prevent deformable objects from going too fast 2019-08-19 12:02:57 -07:00
Xuchen Han bf215a3ce1 rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld 2019-08-16 13:45:30 -07:00