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Author SHA1 Message Date
Xuchen Han 55ebafc755 add demo to test soft body friction 2019-09-28 14:44:41 -07:00
Xuchen Han cca220eb27 add damping energy to mass spring 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 3dcfcda19a typo fix 2019-09-28 14:44:41 -07:00
Xuchen Han a92a8f1135 add demo for deformable contact 2019-09-28 14:44:41 -07:00
Xuchen Han 1bfb226be8 add support for deformable vs. deformable contact 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 109d9353af switched to deformable rigid contact from Jacobi to Gauss Seidel 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 f813cb1c88 modify loadSoftBody to enable separate render mesh from simulation mesh 2019-09-28 14:44:41 -07:00
Xuchen Han 1bc75cc833 add relative tolerance for linear solver and newton with line search 2019-09-28 14:43:40 -07:00
Xuchen Han 36278edc00 add back preTickCallback & disable position Correction for more stability 2019-09-28 14:43:40 -07:00
Xuchen Han acfcc3fc9a updates to interpolation for rendering mesh 2019-09-28 14:43:40 -07:00
Chuyuan Fu e74ffa2f65 add body type info to dynamics info 2019-09-28 14:43:40 -07:00
Xuchen Han 27bf4d3372 new vtk mesh 2019-09-28 14:43:40 -07:00
Xuchen Han a47eeb8225 add render mesh interpolation from simulation mesh 2019-09-28 14:43:40 -07:00
Xuchen Han 1febf8d612 change CG tolerance criterion 2019-09-28 14:43:40 -07:00
erwincoumans 3a29b1c32d Merge pull request #2421 from erwincoumans/master 
fix use of uninitialized variable
 2019-09-27 17:15:41 -07:00
Erwin Coumans 0549fd4ecc PyBullet eglPlugin: 
use -1 as default egl render device
clear m_cachedVisualShapes at reset
 2019-09-27 17:14:36 -07:00
Erwin Coumans 391411b660 fix use of uninitialized variable 2019-09-25 13:49:11 -07:00
erwincoumans 65af42d1ce Merge pull request #2420 from erwincoumans/master 
fix define SKIP_DEFORMABE_BODY -> SKIP_DEFORMABLE_BODY 677fe1a
 2019-09-25 19:11:00 +02:00
Erwin Coumans 2e5455def1 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-09-25 09:10:44 -07:00
Erwin Coumans 677fe1a368 fix define SKIP_DEFORMABE_BODY -> SKIP_DEFORMABLE_BODY 2019-09-25 09:08:48 -07:00
erwincoumans 34b322b7fc Merge pull request #2419 from erwincoumans/master 
remove 'disableVRCamera' to fix issue #2390
 2019-09-24 17:52:51 -07:00
Erwin Coumans bdf24bd4e7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-09-24 13:43:20 -07:00
Erwin Coumans 32c38cd3dc remove 'disableVRCamera' to fix issue #2390 2019-09-24 13:42:45 -07:00
erwincoumans ce28bd5369 Merge pull request #2408 from erwincoumans/master 
fix compile issues
 2019-09-13 20:02:26 -07:00
Erwin Coumans 275a2aecb0 fix compile issues 2019-09-13 09:37:23 -07:00
erwincoumans 8ad4afad70 Merge pull request #2407 from erwincoumans/master 
fix multithreaded solver
 2019-09-13 07:39:05 -07:00
Erwin Coumans 95a7488310 PyBullet: fix createMultiBodyBatch.py example 2019-09-13 07:38:00 -07:00
Erwin Coumans b86bf6c571 remove BlockSolver/* 2019-09-11 10:20:37 -07:00
Erwin Coumans 25c61a40b5 remove BlockSolver/* 2019-09-11 10:19:43 -07:00
Erwin Coumans dee463eaae Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-09-11 08:39:11 -07:00
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
erwincoumans 66fc3a9ce9 Update btDeformableGravityForce.h 2019-09-09 20:42:21 -07:00
erwincoumans 0d4db1a6f2 Update btDeformableMassSpringForce.h 2019-09-09 20:41:42 -07:00
erwincoumans 0722400f33 Update btConjugateGradient.h 
add ; to btAssert
 2019-09-09 20:39:53 -07:00
erwincoumans 80f12f8886 Merge pull request #2404 from erwincoumans/master 
fix issues in previous softbody commits (always check for m_multibodyWorld == 0 before using the pointer in ::render method)
 2019-09-09 19:17:50 -07:00
Erwin Coumans db9bc4f835 PyBullet: write body sync data to larger shared memory 2019-09-09 18:05:29 -07:00
Erwin Coumans 64ea8e9f27 PyBullet createMultiBody(Batch), return all body unique ids 
PyBullet: fix crash: always check for existance m_multibodyWorld in ::render method
 2019-09-09 16:41:25 -07:00
Erwin Coumans 5a3c60c709 PyBullet: Fix syncBodyInfo for over 512 bodies. 
PyBullet: Fix issue related to recent change in drawDebugDrawerLines (soft body)
 2019-09-09 14:56:26 -07:00
erwincoumans 33260e9406 Merge pull request #2402 from erwincoumans/master 
disable warmstarting for friction (btRigidBody) since friction direct…
 2019-09-07 08:54:46 -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 bcc7ea31ff Merge pull request #2386 from xhan0619/newton 
Newton solver
 2019-09-06 10:32:59 -07:00
erwincoumans bb25634af9 Merge pull request #2398 from erwincoumans/master 
fix asan int overflow in hash
 2019-09-06 10:32:32 -07:00
Erwin Coumans 74abd99192 fix asan int overflow in hash 2019-09-05 17:42:18 -07:00
Xuchen Han 899bf9afd1 update setup.py 2019-09-04 18:55:16 -07:00
Xuchen Han d5afccf3f1 update CMakeLists 2019-09-04 18:49:44 -07:00
Xuchen Han 1965f46959 update CMakeLists 2019-09-04 18:49:44 -07:00
Xuchen Han 1ded85e62e remove extra gravity field 2019-09-04 18:49:44 -07:00
Xuchen Han 3d2f945f9c address PR comments 2019-09-04 18:49:44 -07:00
Xuchen Han 8a08e32f51 update CMakeLists 2019-09-04 18:49:43 -07:00
Xuchen Han 5330396c70 enabled mass preconditioner 2019-09-04 18:49:43 -07:00
Xuchen Han f392d8ceb1 clean up memory when exiting 2019-09-04 18:49:43 -07:00
Xuchen Han ca3e25d4e2 add Rayleigh damping for NeoHookean 2019-09-04 18:49:43 -07:00
Xuchen Han e124c62a70 each node only allows a single contact; initial guess for newton set to x = x_n + dt*v_n 2019-09-04 18:49:43 -07:00
Xuchen Han 482458c9df improve deformable objects loading 2019-09-04 18:49:43 -07:00
Xuchen Han 7d1b93cc17 contact solve for newton 2019-09-04 18:48:00 -07:00
Xuchen Han 5826492020 add elastic force differential for mass spring 2019-09-04 18:48:00 -07:00
Xuchen Han d4a15e016e add newton solver 2019-09-04 18:48:00 -07:00
Xuchen Han c722630fc7 bug fix in neohookean force 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 7c39052163 clean up forces 2019-09-04 18:48:00 -07:00
Xuchen Han 0b391798b7 hook deformable world into the physics server 2019-09-04 18:48:00 -07:00
erwincoumans 9cf50846d6 Merge pull request #2393 from muupan/fix-typo-duration 
Fix typo: s/duraction/duration/g
 2019-09-04 09:37:57 -07:00
erwincoumans 85ba3ba957 Merge pull request #2396 from fuchuyuan/bodytypeAPI 
Add body type to dynamics info
 2019-09-04 09:37:31 -07:00
erwincoumans 6b95d12dc6 Merge pull request #2397 from mbreyer/fix-leak-in-state-restore 
Fix memory leak in RestoreState
 2019-09-04 08:31:20 -07:00
Michel Breyer c374d01587 Deallocate importer in RestoreState 2019-09-04 13:10:34 +02:00
Chuyuan Fu ecc28d6472 revert testing example 2019-09-03 14:35:33 -07:00
Chuyuan Fu e4a5f9e06e add body type info to dynamics info 2019-09-03 14:27:19 -07:00
muupan 4c209a4834 Fix typo: s/duraction/duration/g 2019-09-03 17:29:43 +09:00
erwincoumans 25cc1fa386 Merge pull request #2373 from xhan0619/DeformableImprovement 
Deformable improvement
 2019-08-24 18:09:47 -07:00
erwincoumans ceee3e075b Merge pull request #2377 from bulletphysics/erwincoumans-patch-7 
Update PhysicsServerCommandProcessor.cpp
 2019-08-24 17:13:44 -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 b0a91bb306 float->btScalar 2019-08-24 11:55:34 -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 f2d8ed71ac float->btScalar 2019-08-23 20:06:41 -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
erwincoumans 64097c9eec Merge pull request #2375 from bulletphysics/erwincoumans-patch-6 
Update btMultiBodyConstraintSolver.cpp (markup for clangtidy)
 2019-08-22 07:47:44 -07:00
erwincoumans 9a7b89c95a Update PhysicsServerCommandProcessor.cpp 
also allow to extract collision info (pybullet. getCollisionShapeData ) for concave meshes. Thanks to Brent.
 2019-08-22 07:38:23 -07:00
Xuchen Han 3fbd7a7edd delete forces in exitPhysics 2019-08-21 23:00:18 -07:00
Xuchen Han b93c3c56ed delete preconditioner in destructor 2019-08-21 22:44:10 -07:00
Xuchen Han 750ff33f26 remove the std::istream version of vtkfileread 2019-08-21 22:39:07 -07:00
Xuchen Han 4df31305a8 remove iostream dependency 2019-08-21 22:31:30 -07:00
Xuchen Han 75d0cfaf69 restore default voxelsz and add option to change voxelsz 2019-08-21 22:29:53 -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
Xuchen Han fadf6aa612 prevent division by zero in mass spring 2019-08-20 16:26:19 -07:00
Xuchen Han 7e971d9f63 safe guard against NaN in dv after CG solve 2019-08-20 11:12:36 -07:00
Xuchen Han 76d37ec475 bug fix in updateDeformation 2019-08-20 10:37:25 -07:00
erwincoumans 3d42a770fc Update btMultiBodyConstraintSolver.cpp 2019-08-20 07:29:49 -07:00
Xuchen Han 3bf3b66fb7 add method to remove softbody 2019-08-19 19:18:02 -07:00
Xuchen Han ef65d6422b remove CG printf outputs 2019-08-19 17:28:22 -07:00
Xuchen Han 5cdfbf3313 add CMakeLists 2019-08-19 13:09:14 -07:00
Xuchen Han 9f559af2a8 set m_contact_iterations to solverInfo.m_solverIterations 2019-08-19 13:07:26 -07:00
Xuchen Han 9af25430ac update examples to include NeoHookean Model and new damping model 2019-08-19 12:04:10 -07:00