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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 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 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 ca3e25d4e2 add Rayleigh damping for NeoHookean 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 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
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
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
Xuchen Han 44e7c4a96d add stable NeoHookean Model 2019-08-19 12:03:45 -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 54bd93aad2 move deformation update to before explicit force calculation to prevent repetition of F calculation 2019-08-19 11:30:25 -07:00
Xuchen Han 74adce7322 bug fix in momentum conserving damping model for mass spring; update default damping model to momentum conserving one 2019-08-19 11:28:41 -07:00
Xuchen Han 6d4e93d3bf mods for compatibility with older compiler 2019-08-16 14:03:14 -07:00
Xuchen Han bf215a3ce1 rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld 2019-08-16 13:45:30 -07:00
Xuchen Han 8860f8bacc remove unused functions 2019-08-16 13:45:30 -07:00
Xuchen Han 86a1312875 add author info 2019-08-16 13:45:30 -07:00
Xuchen Han c9ab033a8b check in a good set of parameters for grasping deformable ball with nonlinear damping force (not as stable as linear damping) 2019-08-16 13:45:30 -07:00
Xuchen Han aa4d5bda3e add elastic and damping stiffness of spring into the force class 2019-08-16 13:45:29 -07:00
Xuchen Han df7f216bf8 fix bugs introduced in merging 2019-08-16 13:45:29 -07:00
Xuchen Han 10cb0c368d solve CG with more accuracy 2019-08-16 13:45:29 -07:00
Xuchen Han 23cf657a1a change voxel size in sparseSDF to handle contact with smaller objects 2019-08-16 13:45:29 -07:00
Xuchen Han b507fe77ca check in a good set of parameters for grasping deformable ball 2019-08-16 13:45:29 -07:00
Xuchen Han f8c60e9e3c add option for angular momentum conserving damping for mass spring 2019-08-16 13:45:29 -07:00
Xuchen Han bedaa760c2 speed up corotated force computation 2019-08-16 13:45:29 -07:00
Xuchen Han fce1296413 fix the issue that compound objects's child does not get rotated in the material space in interpolationWorldTransform 2019-08-16 13:45:29 -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 9e6e571732 add options to perturb the softbody patch's initial position 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 081497a812 reset dt to 1/240 for grasping demos 2019-08-16 13:45:29 -07:00
Xuchen Han 991be52681 add more volumetric meshes for grasping tests 2019-08-16 13:45:29 -07:00
Xuchen Han cb7257d27b add reader to create softbodies from vtk files 2019-08-16 13:45:29 -07:00
Xuchen Han f7cd1edf4a code clean up 2019-08-16 13:45:29 -07:00
Xuchen Han fa5741d07e improve dynamic friction 2019-08-16 13:45:29 -07:00
Xuchen Han fb6612c0be friction fixes 2019-08-16 13:45:08 -07:00
Xuchen Han 5b8df6a708 switch to Baraff style constraint 2019-08-16 13:45:08 -07:00
Xuchen Han 27492887bf move files and update license 2019-08-16 13:45:08 -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 deb7c152c4 add corotated model to lagrangian forces 2019-08-16 13:45:05 -07:00
Xuchen Han 94aeb4657b add comment and initialization 2019-08-16 13:45:05 -07:00
Xuchen Han 10e819db8e add grasping with joint motor example 2019-08-16 13:45:05 -07:00
Xuchen Han 6d31c73216 style fix and remove unused variable 2019-08-16 13:44:59 -07:00
nbelakovski 3b4831089b Call drawRect on Mac to fix OpenGL issue 
This fixes an issue on Mac where an OpenGL window doesn't show anything until it is resized.
 2019-07-06 20:34:22 -07:00
Emil Nordén 7638b7c5a6 fixed build on latest version of clang 2019-05-04 08:38:53 +02:00
Fredrik Svantesson 192b92a6dd Add space to prevent macro from specifying literal 2019-01-18 22:58:09 +01:00
Michał Janiszewski 5b90e7e0b7 Update include guard in btGImpactBvh.h 2018-10-28 21:50:28 +01:00
Jelle f9ff09a6b5 Added extern declaration 
The extern declaration  was missing from this file.
 2018-10-24 17:20:25 +02:00
Robert Haschke beb3dd6196 reduce diff 2018-08-24 00:34:16 +02:00
Robert Haschke 5088f71e7f preserve constness to avoid compiler warnings 2018-08-24 00:29:54 +02:00
Jeongseok Lee b3d8639004 Run apt-get update before installing python3-pip 2018-07-10 11:26:00 -07:00
nbelakovski e6a5ff7d5a Fixing include line of btMultibodyWorldImporter.h to work with installed bullet files 
When running make install for Bullet, no "Extras/" folder is created, so the include line as is will fail. This modification should work since the relevant header is in the same folder as this header.
 2018-04-17 11:59:04 -07:00
Joey Liaw bbc536d887 add const to masses for calculatePrincipalAxisTransform 2017-11-25 13:33:26 -08:00
Rico P 7578f39c9a use Ansi version of LoadLibrary 
I got the error "C2664: 'HMODULE LoadLibraryW(LPCWSTR)': cannot convert argument 1 from 'const char *' to 'LPCWSTR'". 
Mapping B3_DYNLIB_OPEN to the Ansi version of LoadLibrary fixed the error for me.
 2017-10-30 11:09:09 +01:00
d3x0r 8e75d4375b Fix missing DWORD variable (lost in merge port) 2017-10-28 14:50:44 -07:00
d3x0r 88b49947b5 Composite of fixed code for mingw64(on windows) and general fixes for msvc. 
1) (win32window) don't convert char to wide, use char direct to window.
2) (CMakeLists) Don't link one library as static CPPLIB and no others (mismatched allocations)
3) (macros) Fix Gwen macros for mingw64 on windows build.  (changes are by compiler(msc_ver) not platform)
4) (FileUtils) sprintf_s reference by platform, not compiler (mingw64 support)
5) (b3OpenCLUtils) fix bad define name _MSVC_VER->_MSC_VER
6) (compoundCollision) remove unused variables, simplify operation.
7) (impulseconstraint) remove duplicated code block
 2017-10-28 14:42:38 -07:00
Gregery Barton 72b0b76b64 getSolveSwingLimit() returns wrong value 
Should return m_solveSwingLimit instead of m_solveTwistLimit
 2017-05-06 11:45:26 +10:00
Gregery Barton 03742208f1 Collider object not necessary 
Collider object not necessary without DBVT_BP_ACCURATESLEEPING defined
 2017-05-04 05:22:00 +10:00
Manmohan Bishnoi dad2895fed Update helloworld.tex with library link order. 
Added a tip on how to properly link BulletPhysics libraries in order.
 2017-02-27 00:04:46 +05:30
Jamie Snape 9f42cf27ed Fix typo 2016-09-14 17:22:54 -04:00
Jamie Snape b0ace4509a Enable rpath on OS X when the CMake version supports it 2016-09-14 13:00:51 -04:00