Tigran Gasparian
822c24e867
Clears body and user data caches when syncBodyInfo and syncUserData are called
2019-08-08 09:50:32 +02:00
erwincoumans
226819b839
premake add enable_stable_pd option, so Bullet can be compiled without C++11 (Visual Studio 2010 etc)
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PyBullet: improve sleeping: if the base is static and all joints in the chain between this link and the base are fixed, then this link is static too (doesn't merge islands)
Fix PyBullet compilation of Visual Studion 2010
2019-08-07 21:57:05 -07:00
erwincoumans
666e1a8bad
Merge pull request #2357 from fuchuyuan/setWarmStartFactor
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API and pybullet bindings for setting warmstarting factor
2019-08-07 17:34:58 -07:00
erwincoumans
cc7a450a3b
Merge pull request #2354 from fuchuyuan/loadRigidbody
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add support to load rigidbody
2019-08-07 17:30:46 -07:00
Chuyuan Fu
4f70e71afa
take out btrigidbody field mass
2019-08-06 16:18:43 -07:00
erwincoumans
1981493a65
Merge pull request #2356 from erwincoumans/master
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sync graphics server at resetJointState, resetSimulation, load*
2019-08-06 15:54:43 -07:00
Chuyuan Fu
2e64b27a31
bindings for setting warmstarting factor
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fix space
2019-08-06 15:53:31 -07:00
Xuchen Han
02c5b99b2f
add algorithm overview
2019-08-06 11:42:48 -07:00
Erwin Coumans
098cde55fd
sync graphics server at resetSimulation, load* and resetJointState
2019-08-06 10:56:21 -07:00
Xuchen Han
e5231b5cc5
restore behaviors of btSoftBody
2019-08-06 10:52:19 -07:00
Xuchen Han
6a599bde87
setDt in reinitialize and remove unused variables
2019-08-06 10:16:56 -07:00
Xuchen Han
73f5eb6a8f
add profiling and code clean up
2019-08-05 16:49:04 -07:00
Chuyuan Fu
1cb3655f71
add support to load rigidbody
2019-08-05 13:38:43 -07:00
Xuchen Han
02d3a9469f
code clean up + Zlib copyright header
2019-08-05 11:54:17 -07:00
Erwin Coumans
bf90b6a1d5
update PyBullet quickstart guide pdf version
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tweak profileTiming example
2019-08-05 08:32:45 -07:00
Xuchen Han
c5d84c1a0b
get rid of nullptr and std::function
2019-08-03 00:12:34 -07:00
Xuchen Han
021cbb2a0e
include numeric_limits
2019-08-02 23:50:15 -07:00
Xuchen Han
8c04a78c9b
switch from std::unordered_map to btHashMap
2019-08-02 23:26:11 -07:00
Xuchen Han
dae230912b
typo fix
2019-08-02 15:51:38 -07:00
Xuchen Han
9a5ef6c849
update CMakeList
2019-08-02 15:41:10 -07:00
Xuchen Han
7f33d8cdb9
get rid of 'using'
2019-08-02 15:27:10 -07:00
Xuchen Han
f624b60c19
get rid of auto
2019-08-02 15:19:37 -07:00
Xuchen Han
753b2d9f15
add new demos to CMakeList
2019-08-02 15:02:15 -07:00
Xuchen Han
8cc7cb59d7
clean up examples
2019-08-02 14:06:42 -07:00
Xuchen Han
54303e02b1
perform position correction only when objects are penetrating
2019-08-02 13:21:06 -07:00
Xuchen Han
3dc8abcf36
only call buildIslands once for multibody in each timestep
2019-08-02 13:15:06 -07:00
Xuchen Han
f1e7ce9ce1
add multibody interpolation transform so that collision detection is consistent with rigidbody
2019-08-02 13:15:06 -07:00
Xuchen Han
ec403f790d
factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody
2019-08-02 13:15:06 -07:00
Xuchen Han
233a381e7c
add correct impulse matrix to multibody-deformable contact
2019-08-02 13:15:00 -07:00
Xuchen Han
243b9fc8c7
combat friction drift in positionCorrect by changing velocity and change it back (effectively only changing position)
2019-08-02 13:14:15 -07:00
Xuchen Han
a90cad2a96
deformable code refactor
2019-08-02 13:13:21 -07:00
Xuchen Han
dc10336d45
code clean up + check in examples
2019-08-02 13:12:59 -07:00
Xuchen Han
3430192db7
reformulate friction
2019-08-02 13:12:51 -07:00
Xuchen Han
7846dd38dd
switch explicit elastic force
2019-08-02 13:12:51 -07:00
Xuchen Han
2fc376e8f5
bug fix in friction; accumulate friction impulses in cg; forbid switching from static to dynamic friction
2019-08-02 13:12:51 -07:00
Xuchen Han
befab4eab6
reorganize the contact constraints
2019-08-02 13:12:51 -07:00
Xuchen Han
bac7d461c5
fix bugs in poststablize and projection of colinear constraints
2019-08-02 13:12:51 -07:00
Xuchen Han
ac628f4d39
add two way coupled penetration resolution; not momentum conserving, but seem to work fine
2019-08-02 13:12:42 -07:00
Xuchen Han
98cd9a85e4
generalize preconditioner, now supports mass preconditioning
2019-08-02 13:12:41 -07:00
Xuchen Han
696c96f392
bug fix in projection; start friction
2019-08-02 13:12:41 -07:00
Xuchen Han
4e5f4b9fe9
reformulate how constraints are managed in the projection class
2019-08-02 13:12:41 -07:00
Xuchen Han
b28f1fdac3
add support for more than one constraint for a single deformable node
2019-08-02 13:12:41 -07:00
Xuchen Han
b7e512a5f9
sync gravity with substeps
2019-08-02 13:12:41 -07:00
Xuchen Han
77d670ae41
separate external force solve from constraint solve and eliminate damping in external force solve
2019-08-02 13:12:41 -07:00
Xuchen Han
c4e316f005
btDeformableRigidWorld now inherits from btMultiBodyDynamicsWorld instead of btSoftRigidDynamicsWorld
2019-08-02 13:12:41 -07:00
Xuchen Han
13d4e1cc2b
bug fixes in constraints projections; cpplized various functions
2019-08-02 13:12:41 -07:00
Xuchen Han
786b0436ec
fixed gravity issue in rigid body and deformable body contact solve
2019-08-02 13:12:27 -07:00
Xuchen Han
b8997c36b2
update contact projection
2019-08-02 13:10:56 -07:00
Xuchen Han
35ce2ae0e2
add contact constraint as projections in CG
2019-08-02 13:10:56 -07:00
Xuchen Han
32836b0694
set up deformable world and solver (does not support contact or friction yet)
2019-08-02 13:10:17 -07:00
