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
