Xuchen Han
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7adb6fdff3
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2016 -> 2019
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2019-08-08 17:43:49 -07:00 |
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Xuchen Han
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817e64a769
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remove one softbody array copy
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2019-08-08 17:31:59 -07:00 |
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Xuchen Han
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436b6c6963
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separate multibody position prediction into standalone function
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2019-08-08 17:14:13 -07:00 |
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Xuchen Han
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96e8dcef0f
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fix bug caused by not reseting to zero
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2019-08-08 16:45:19 -07:00 |
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Xuchen Han
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9a7e30d09f
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move deformable examples to a single folder and rename them; change license to google 2016
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2019-08-08 15:00:55 -07:00 |
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Chuyuan Fu
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4f70e71afa
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take out btrigidbody field mass
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2019-08-06 16:18:43 -07:00 |
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Xuchen Han
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02c5b99b2f
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add algorithm overview
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2019-08-06 11:42:48 -07:00 |
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Xuchen Han
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e5231b5cc5
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restore behaviors of btSoftBody
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2019-08-06 10:52:19 -07:00 |
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Xuchen Han
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6a599bde87
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setDt in reinitialize and remove unused variables
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2019-08-06 10:16:56 -07:00 |
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Xuchen Han
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73f5eb6a8f
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add profiling and code clean up
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2019-08-05 16:49:04 -07:00 |
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Chuyuan Fu
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1cb3655f71
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add support to load rigidbody
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2019-08-05 13:38:43 -07:00 |
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Xuchen Han
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02d3a9469f
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code clean up + Zlib copyright header
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2019-08-05 11:54:17 -07:00 |
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Xuchen Han
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c5d84c1a0b
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get rid of nullptr and std::function
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2019-08-03 00:12:34 -07:00 |
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Xuchen Han
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021cbb2a0e
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include numeric_limits
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2019-08-02 23:50:15 -07:00 |
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Xuchen Han
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8c04a78c9b
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switch from std::unordered_map to btHashMap
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2019-08-02 23:26:11 -07:00 |
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Xuchen Han
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dae230912b
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typo fix
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2019-08-02 15:51:38 -07:00 |
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Xuchen Han
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9a5ef6c849
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update CMakeList
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2019-08-02 15:41:10 -07:00 |
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Xuchen Han
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7f33d8cdb9
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get rid of 'using'
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2019-08-02 15:27:10 -07:00 |
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Xuchen Han
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f624b60c19
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get rid of auto
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2019-08-02 15:19:37 -07:00 |
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Xuchen Han
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8cc7cb59d7
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clean up examples
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2019-08-02 14:06:42 -07:00 |
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Xuchen Han
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54303e02b1
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perform position correction only when objects are penetrating
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2019-08-02 13:21:06 -07:00 |
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Xuchen Han
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3dc8abcf36
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only call buildIslands once for multibody in each timestep
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2019-08-02 13:15:06 -07:00 |
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Xuchen Han
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f1e7ce9ce1
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add multibody interpolation transform so that collision detection is consistent with rigidbody
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2019-08-02 13:15:06 -07:00 |
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Xuchen Han
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ec403f790d
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factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody
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2019-08-02 13:15:06 -07:00 |
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Xuchen Han
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233a381e7c
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add correct impulse matrix to multibody-deformable contact
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2019-08-02 13:15:00 -07:00 |
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Xuchen Han
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243b9fc8c7
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combat friction drift in positionCorrect by changing velocity and change it back (effectively only changing position)
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2019-08-02 13:14:15 -07:00 |
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Xuchen Han
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a90cad2a96
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deformable code refactor
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2019-08-02 13:13:21 -07:00 |
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Xuchen Han
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dc10336d45
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code clean up + check in examples
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2019-08-02 13:12:59 -07:00 |
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Xuchen Han
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3430192db7
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reformulate friction
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2019-08-02 13:12:51 -07:00 |
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Xuchen Han
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7846dd38dd
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switch explicit elastic force
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2019-08-02 13:12:51 -07:00 |
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Xuchen Han
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2fc376e8f5
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bug fix in friction; accumulate friction impulses in cg; forbid switching from static to dynamic friction
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2019-08-02 13:12:51 -07:00 |
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Xuchen Han
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befab4eab6
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reorganize the contact constraints
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2019-08-02 13:12:51 -07:00 |
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Xuchen Han
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bac7d461c5
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fix bugs in poststablize and projection of colinear constraints
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2019-08-02 13:12:51 -07:00 |
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Xuchen Han
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ac628f4d39
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add two way coupled penetration resolution; not momentum conserving, but seem to work fine
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2019-08-02 13:12:42 -07:00 |
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Xuchen Han
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98cd9a85e4
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generalize preconditioner, now supports mass preconditioning
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2019-08-02 13:12:41 -07:00 |
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Xuchen Han
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696c96f392
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bug fix in projection; start friction
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2019-08-02 13:12:41 -07:00 |
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Xuchen Han
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4e5f4b9fe9
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reformulate how constraints are managed in the projection class
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2019-08-02 13:12:41 -07:00 |
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Xuchen Han
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b28f1fdac3
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add support for more than one constraint for a single deformable node
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2019-08-02 13:12:41 -07:00 |
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Xuchen Han
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b7e512a5f9
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sync gravity with substeps
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2019-08-02 13:12:41 -07:00 |
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Xuchen Han
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77d670ae41
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separate external force solve from constraint solve and eliminate damping in external force solve
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2019-08-02 13:12:41 -07:00 |
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Xuchen Han
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c4e316f005
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btDeformableRigidWorld now inherits from btMultiBodyDynamicsWorld instead of btSoftRigidDynamicsWorld
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2019-08-02 13:12:41 -07:00 |
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Xuchen Han
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13d4e1cc2b
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bug fixes in constraints projections; cpplized various functions
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2019-08-02 13:12:41 -07:00 |
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Xuchen Han
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786b0436ec
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fixed gravity issue in rigid body and deformable body contact solve
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2019-08-02 13:12:27 -07:00 |
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Xuchen Han
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b8997c36b2
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update contact projection
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2019-08-02 13:10:56 -07:00 |
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Xuchen Han
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35ce2ae0e2
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add contact constraint as projections in CG
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2019-08-02 13:10:56 -07:00 |
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Xuchen Han
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32836b0694
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set up deformable world and solver (does not support contact or friction yet)
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2019-08-02 13:10:17 -07:00 |
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Erwin Coumans
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51fba6f78d
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export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU)
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
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2019-07-29 20:23:38 -07:00 |
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Erwin Coumans
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3eedb2a6f2
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fix rotational friction between btMultiBody and btRigidBody
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2019-07-24 22:07:16 -07:00 |
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Erwin Coumans
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a42acfbe31
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btHeightFieldTerrainShape, init new member
instead height of example terrain
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2019-07-23 15:23:11 -07:00 |
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Erwin Coumans
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ebde9926a8
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add example loading heightfield from image and csv, using assets from DeepLoco (thanks to Jason Peng) and
from this Blender tutorial https://www.beamng.com/threads/tutorial-adding-heightmap-roads-using-blender.16356/
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2019-07-23 11:26:31 -07:00 |
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