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
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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
erwin coumans
Xuchen Han