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869 Commits

Author SHA1 Message Date
Erwin Coumans
93810cb09a revert constraint solver changes to allow block solver, since it breaks the multithreaded solver. 
(re-enable if/when we can redo those changes without breaking multithreading)
 2019-09-11 08:39:05 -07:00
Erwin Coumans
4515fcbfaf disable warmstarting for friction (btRigidBody) since friction directions are changing it can cause artifacts. 2019-09-06 21:22:14 -07:00
erwincoumans
25cc1fa386 Merge pull request #2373 from xhan0619/DeformableImprovement 
Deformable improvement
 2019-08-24 18:09:47 -07:00
Xuchen Han
908cf69f06 change deformable/multibody solve to be in dv space 2019-08-24 14:58:11 -07:00
Xuchen Han
8b38076376 update license 2019-08-24 12:44:58 -07:00
Xuchen Han
bb4a554e68 bug fix in multibody interpolation world transform: update cached rotation and vector 2019-08-24 11:51:33 -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
f33532273a sync interpolationTransform for multibody in integrateTransform; revert changes to voxel size in sparseSDF 2019-08-21 16:03:54 -07:00
Xuchen Han
076c8b11df revert the changes to damping of multibody external forces 2019-08-20 18:13:38 -07:00
erwincoumans
3d42a770fc Update btMultiBodyConstraintSolver.cpp 2019-08-20 07:29:49 -07:00
Xuchen Han
07bf736aeb build islands once and process islands arbitrary number of times in update constraints 2019-08-16 13:45:29 -07:00
Xuchen Han
cfbd6c512a fix bug introduced in clearing m_manifold; 7e37d3fd21069571adb4c1e4ffacbd71dd02c0ba 2019-08-16 13:45:29 -07:00
Xuchen Han
26983b05e2 modify constraint setup so that contact constraints are persistent in a single CG solve but motor constraints are applied only once 2019-08-16 13:45:05 -07:00
Xuchen Han
94aeb4657b add comment and initialization 2019-08-16 13:45:05 -07:00
erwincoumans
7fa70c3857 Merge pull request #2351 from xhan0619/Deformable 
Add deformable body world and solver
 2019-08-14 21:13:41 -07:00
Xuchen Han
436b6c6963 separate multibody position prediction into standalone function 2019-08-08 17:14:13 -07:00
Chuyuan Fu
4f70e71afa take out btrigidbody field mass 2019-08-06 16:18:43 -07:00
Chuyuan Fu
1cb3655f71 add support to load rigidbody 2019-08-05 13:38:43 -07:00
Xuchen Han
8cc7cb59d7 clean up examples 2019-08-02 14:06:42 -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
233a381e7c add correct impulse matrix to multibody-deformable contact 2019-08-02 13:15:00 -07:00
Xuchen Han
a90cad2a96 deformable code refactor 2019-08-02 13:13:21 -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
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
Erwin Coumans
3eedb2a6f2 fix rotational friction between btMultiBody and btRigidBody 2019-07-24 22:07:16 -07:00
Andrea Catania
960cadd919 Fix initialization order 
This commit is necessary in order to fix the error that we get in godot with the flag: "-Werror=reorder"
 2019-06-03 12:54:19 +02:00
erwincoumans
36896db828 Merge remote-tracking branch 'bp/master' 2019-06-01 07:29:31 -07:00
erwincoumans
4d3ee40895 Update btLemkeSolver.h 
address this issue: https://github.com/bulletphysics/bullet3/pull/2253
 2019-05-31 19:09:28 -07:00
Erwin Coumans
f838e22bd9 fix some warnings 2019-05-31 19:00:38 -07:00
Rémi Verschelde
d85b800702 Convert DOS (CRLF) source files to Unix (LF) line endings 
Excluded `examples/pybullet/gym/pybullet_data/` which has many (3000+)
CRLF data files (obj, mtl, urdf), and `docs/pybullet_quickstart_guide`
which has generated .js and .htm files with CRLF line endings too.
 2019-05-22 10:01:32 +02:00
Andrea Catania
4dad15946b Multibody memory invalid writing 
Related #2233
 2019-05-06 17:56:18 +02:00
erwincoumans
38f45d7137 Update btMultiBodyDynamicsWorld.cpp 2019-04-27 14:16:44 -07:00
erwincoumans
a929e8f2e5 Merge pull request #2203 from erwincoumans/master 
implement stablePD control version of testLaikago,  fix getCameraImage in VR,  only report solver analytics if enabled using setPhysicsEngineParameter
 2019-04-15 08:52:03 -07:00
erwincoumans
e97a7d77af only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1) 2019-04-14 18:20:20 -07:00
erwincoumans
5ff52e47d9 report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error. 2019-04-11 22:19:02 -07:00
Steven
bdf0553077 don't need to call the computeAccelerationsArticulatedBodyAlgorithmMultiDof() the second pass if the m_internalNeedsJointFeedback is false. 2019-04-09 20:13:54 +08:00
Erwin Coumans
150a6a0880 Qualify calls to certain functions from the cmath library. 2019-03-14 16:57:50 -07:00
erwincoumans
a9e350b0fb Merge pull request #2141 from erwincoumans/blocksolver 
solver experiment
 2019-03-06 22:02:44 -08:00
erwincoumans
04441a29cc Implement 'cone friction' for the rolling friction, to avoid curved trajectories for contact with rolling friction enabled. 
(and separate spinning friction from rolling friction)
Fixes Issue 2117
 2019-03-03 17:10:01 -08:00
erwincoumans
36a9dcf368 remove src/BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.cpp and examples/ConstraintSolvers/* code 
revert changes to btMultiBodyConstraintSolver/btSequentialImpulseConstraintSolver related to btMultiBodyBlockConstraintSolver
 2019-02-27 17:10:17 -08:00
erwincoumans
48d84e7899 revert experiment not passing the constraint solver back down from btMultiBodyDynamicsWorld to btDiscreteDynamicsWorld. 2019-02-27 16:00:56 -08:00
erwincoumans
d7e087de16 prepare small experiment with block solver 2019-02-26 23:27:05 -08:00
erwincoumans
c44471c38c preparation for block solver btRigidBody. 2019-02-26 20:24:15 -08:00
erwincoumans
bdf9b10246 more work on pybullet_envs.deep_mimic. 
allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.
 2019-02-18 17:57:02 -08:00
erwincoumans
014c68388e fix createVisualShape.py ray vertical/horizontal and retina scale, fixes Issue 2085 
fix memory leak in removeBody, fixes issue 2086
 2019-01-30 15:29:43 -08:00