 Xuchen Han
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270028363b
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Fix some performance issues caused by unneccessarily small sdf grid size.
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2019-10-24 15:03:23 -07:00 |
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Xuchen Han
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c6af3aa3f8
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fix bug in deformable vs. deformable friction
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2019-10-23 12:17:21 -07:00 |
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Xuchen Han
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36f7441790
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support anchor constraint between deformable and multibody
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2019-10-17 16:45:28 -07:00 |
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Xuchen Han
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60dfe1fe69
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add support for anchor constraint between deformable and rigid
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2019-10-16 19:23:01 -07:00 |
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Xuchen Han
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3d622a3bee
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enable deformable sleeping
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2019-10-16 12:00:02 -07:00 |
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Xuchen Han
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3ae193ff15
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bool->int
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2019-10-15 15:43:26 -07:00 |
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Xuchen Han
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774937bcd6
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add option to turn face contact on/off
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2019-10-15 13:53:27 -07:00 |
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Xuchen Han
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05c25a27de
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address comment from ldowns
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2019-10-15 13:51:33 -07:00 |
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Xuchen Han
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a1afc66817
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remove std::fabs and std::max
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2019-10-15 13:51:33 -07:00 |
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Xuchen Han
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30238b2fbc
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remove std::copysign
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2019-10-15 13:51:33 -07:00 |
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Xuchen Han
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a7222d8a9f
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add option to set stress clamping limit
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2019-10-15 13:51:33 -07:00 |
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Xuchen Han
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9e29f7108d
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remove Eigen
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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9546390fd6
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clamp stress for NeoHookean in singular value space
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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e87df18544
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switch to damping model from Irvine 05 for its SPDness
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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87546bb7c3
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prevent velocity of deformable from getting too big from explicit force
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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45c4497711
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fix compile
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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0d742273c1
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set default drag coefficient to 0
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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992e1454b6
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turn on SKIP_DEFORMABLE
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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25a566c378
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finish deformable sleeping and add option for drag
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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0d7ff567e6
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bug fix in deformable predict motion
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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c808bb78c7
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delete lagrangian force when deleting dynamics world from command processor
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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58a67f82fb
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set default integration scheme to explicit
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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94facf0029
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typo fix
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2019-10-15 13:50:13 -07:00 |
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Xuchen Han
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ca92cf067e
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fix removeCollisionObject for Deformable world
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2019-10-15 13:50:12 -07:00 |
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Xuchen Han
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3b945597d1
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prevent narrow phase collision detection between rigid and soft when both are sleeping
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2019-10-15 13:50:12 -07:00 |
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Xuchen Han
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c610ba49df
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fix bug in computing rhs in momentum solve
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2019-10-15 13:47:55 -07:00 |
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Xuchen Han
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5a55374d85
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pass render nodes instead of simulated nodes to renderer
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2019-10-01 14:48:34 -07:00 |
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Xuchen Han
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96bf2f2ff5
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address PR comments
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2019-10-01 14:47:49 -07:00 |
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Xuchen Han
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187019268c
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enable deformable vs. deformable and self-collision in deformable loading
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2019-09-28 15:10:06 -07:00 |
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Xuchen Han
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2d045de589
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parameter change in ClothFriction Demo
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2019-09-28 14:44:42 -07:00 |
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Xuchen Han
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132f7fe751
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update pybullet binding
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2019-09-28 14:44:42 -07:00 |
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Xuchen Han
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212b990b0e
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remove auto and add include
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2019-09-28 14:44:42 -07:00 |
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Xuchen Han
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9f11ac5d4d
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add include
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2019-09-28 14:44:42 -07:00 |
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Xuchen Han
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11ad0f0dfd
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add btMatrix3x3 constructor from vectors
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2019-09-28 14:44:42 -07:00 |
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Xuchen Han
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c178905998
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remove siData
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2019-09-28 14:44:42 -07:00 |
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Xuchen Han
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ccaddfca21
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documentation and optimization
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2019-09-28 14:44:42 -07:00 |
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Xuchen Han
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a0acfd5195
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code clean up and optimization
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2019-09-28 14:44:42 -07:00 |
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Xuchen Han
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977bdb4e0e
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adjust parameters
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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cb46440e17
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add normal cone optimization for self-collision
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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657a7468b3
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documentation and optimization
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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20abbc9ee7
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add dynamic friction for deformable contact
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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416e516735
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add naive implementation of self collision
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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be7383cc03
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update examples to test different time stepping schemes (namely explicit, implicit and implicit with line search)/
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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2f9184acc9
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remove position correction
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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ef5aa6e73b
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add options to toggle between whether line search is used & add more documentation
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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0501fe1bbd
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add cloth demo to show deformable friction
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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55ebafc755
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add demo to test soft body friction
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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cca220eb27
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add damping energy to mass spring
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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d761b2cd68
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add some documentation
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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ae42cc561e
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add damping energy in line search
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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3dcfcda19a
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typo fix
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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a92a8f1135
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add demo for deformable contact
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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1bfb226be8
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add support for deformable vs. deformable contact
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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403eb62dfa
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code clean up and optimization
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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109d9353af
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switched to deformable rigid contact from Jacobi to Gauss Seidel
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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f99cf56149
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finished refactoring; start adding face contact
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2019-09-28 14:44:41 -07:00 |
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Xuchen Han
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27bf4d3372
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new vtk mesh
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2019-09-28 14:43:40 -07:00 |
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Xuchen Han
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a47eeb8225
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add render mesh interpolation from simulation mesh
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2019-09-28 14:43:40 -07:00 |
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Xuchen Han
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899bf9afd1
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update setup.py
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2019-09-04 18:55:16 -07:00 |
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Xuchen Han
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d5afccf3f1
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update CMakeLists
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2019-09-04 18:49:44 -07:00 |
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Xuchen Han
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1965f46959
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update CMakeLists
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2019-09-04 18:49:44 -07:00 |
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Xuchen Han
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1ded85e62e
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remove extra gravity field
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2019-09-04 18:49:44 -07:00 |
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Xuchen Han
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3d2f945f9c
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address PR comments
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2019-09-04 18:49:44 -07:00 |
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Xuchen Han
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8a08e32f51
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update CMakeLists
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2019-09-04 18:49:43 -07:00 |
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Xuchen Han
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5330396c70
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enabled mass preconditioner
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2019-09-04 18:49:43 -07:00 |
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Xuchen Han
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ca3e25d4e2
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add Rayleigh damping for NeoHookean
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2019-09-04 18:49:43 -07:00 |
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Xuchen Han
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7d1b93cc17
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contact solve for newton
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2019-09-04 18:48:00 -07:00 |
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Xuchen Han
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5826492020
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add elastic force differential for mass spring
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2019-09-04 18:48:00 -07:00 |
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Xuchen Han
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d4a15e016e
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add newton solver
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2019-09-04 18:48:00 -07:00 |
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Xuchen Han
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c722630fc7
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bug fix in neohookean force
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2019-09-04 18:48:00 -07:00 |
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Xuchen Han
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e73f70efa2
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swap m_x and m_q in softbody to align with rendering convention
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2019-09-04 18:48:00 -07:00 |
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Xuchen Han
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7c39052163
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clean up forces
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2019-09-04 18:48:00 -07:00 |
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Xuchen Han
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908cf69f06
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change deformable/multibody solve to be in dv space
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2019-08-24 14:58:11 -07:00 |
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Xuchen Han
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8b38076376
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update license
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2019-08-24 12:44:58 -07:00 |
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Xuchen Han
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b0a91bb306
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float->btScalar
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2019-08-24 11:55:34 -07:00 |
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Xuchen Han
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bb4a554e68
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bug fix in multibody interpolation world transform: update cached rotation and vector
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2019-08-24 11:51:33 -07:00 |
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Xuchen Han
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f2d8ed71ac
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float->btScalar
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2019-08-23 20:06:41 -07:00 |
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Xuchen Han
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6beeac7065
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refactor contact solve
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2019-08-23 17:32:41 -07:00 |
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Xuchen Han
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ccd8c3a47c
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fix scope override in btMultiBody and scalar type inconsistency in btDeformableBodySolver
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2019-08-22 10:12:14 -07:00 |
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Xuchen Han
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3fbd7a7edd
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delete forces in exitPhysics
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2019-08-21 23:00:18 -07:00 |
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Xuchen Han
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b93c3c56ed
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delete preconditioner in destructor
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2019-08-21 22:44:10 -07:00 |
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Xuchen Han
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750ff33f26
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remove the std::istream version of vtkfileread
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2019-08-21 22:39:07 -07:00 |
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Xuchen Han
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4df31305a8
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remove iostream dependency
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2019-08-21 22:31:30 -07:00 |
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Xuchen Han
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75d0cfaf69
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restore default voxelsz and add option to change voxelsz
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2019-08-21 22:29:53 -07:00 |
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Xuchen Han
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4e1c1a30a7
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remove world dependency from btDeformableBodySolver,btDeformableBackwardEulerObjective, and btCGProjection; reduce invasion into multibody world, all chnages are cosmetic now
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2019-08-21 22:17:46 -07:00 |
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Xuchen Han
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f33532273a
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sync interpolationTransform for multibody in integrateTransform; revert changes to voxel size in sparseSDF
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2019-08-21 16:03:54 -07:00 |
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Xuchen Han
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076c8b11df
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revert the changes to damping of multibody external forces
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2019-08-20 18:13:38 -07:00 |
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Xuchen Han
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fadf6aa612
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prevent division by zero in mass spring
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2019-08-20 16:26:19 -07:00 |
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Xuchen Han
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7e971d9f63
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safe guard against NaN in dv after CG solve
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2019-08-20 11:12:36 -07:00 |
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Xuchen Han
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76d37ec475
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bug fix in updateDeformation
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2019-08-20 10:37:25 -07:00 |
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Xuchen Han
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3bf3b66fb7
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add method to remove softbody
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2019-08-19 19:18:02 -07:00 |
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Xuchen Han
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ef65d6422b
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remove CG printf outputs
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2019-08-19 17:28:22 -07:00 |
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Xuchen Han
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5cdfbf3313
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add CMakeLists
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2019-08-19 13:09:14 -07:00 |
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Xuchen Han
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9f559af2a8
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set m_contact_iterations to solverInfo.m_solverIterations
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2019-08-19 13:07:26 -07:00 |
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Xuchen Han
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9af25430ac
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update examples to include NeoHookean Model and new damping model
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2019-08-19 12:04:10 -07:00 |
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Xuchen Han
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44e7c4a96d
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add stable NeoHookean Model
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2019-08-19 12:03:45 -07:00 |
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Xuchen Han
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04595961cd
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add velocity clamp to prevent deformable objects from going too fast
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2019-08-19 12:02:57 -07:00 |
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Xuchen Han
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54bd93aad2
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move deformation update to before explicit force calculation to prevent repetition of F calculation
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2019-08-19 11:30:25 -07:00 |
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Xuchen Han
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74adce7322
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bug fix in momentum conserving damping model for mass spring; update default damping model to momentum conserving one
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2019-08-19 11:28:41 -07:00 |
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Xuchen Han
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6d4e93d3bf
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mods for compatibility with older compiler
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2019-08-16 14:03:14 -07:00 |
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