 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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Xuchen Han
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bf215a3ce1
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rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld
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2019-08-16 13:45:30 -07:00 |
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Xuchen Han
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8860f8bacc
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remove unused functions
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2019-08-16 13:45:30 -07:00 |
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Xuchen Han
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86a1312875
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add author info
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2019-08-16 13:45:30 -07:00 |
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Xuchen Han
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c9ab033a8b
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check in a good set of parameters for grasping deformable ball with nonlinear damping force (not as stable as linear damping)
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2019-08-16 13:45:30 -07:00 |
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Xuchen Han
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aa4d5bda3e
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add elastic and damping stiffness of spring into the force class
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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df7f216bf8
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fix bugs introduced in merging
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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10cb0c368d
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solve CG with more accuracy
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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23cf657a1a
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change voxel size in sparseSDF to handle contact with smaller objects
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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b507fe77ca
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check in a good set of parameters for grasping deformable ball
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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f8c60e9e3c
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add option for angular momentum conserving damping for mass spring
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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bedaa760c2
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speed up corotated force computation
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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fce1296413
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fix the issue that compound objects's child does not get rotated in the material space in interpolationWorldTransform
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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07bf736aeb
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build islands once and process islands arbitrary number of times in update constraints
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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9e6e571732
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add options to perturb the softbody patch's initial position
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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cfbd6c512a
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fix bug introduced in clearing m_manifold; 7e37d3fd21069571adb4c1e4ffacbd71dd02c0ba
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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081497a812
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reset dt to 1/240 for grasping demos
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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991be52681
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add more volumetric meshes for grasping tests
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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cb7257d27b
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add reader to create softbodies from vtk files
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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f7cd1edf4a
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code clean up
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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fa5741d07e
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improve dynamic friction
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2019-08-16 13:45:29 -07:00 |
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Xuchen Han
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fb6612c0be
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friction fixes
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2019-08-16 13:45:08 -07:00 |
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Xuchen Han
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5b8df6a708
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switch to Baraff style constraint
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2019-08-16 13:45:08 -07:00 |
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Xuchen Han
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27492887bf
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move files and update license
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2019-08-16 13:45:08 -07:00 |
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Xuchen Han
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26983b05e2
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modify constraint setup so that contact constraints are persistent in a single CG solve but motor constraints are applied only once
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2019-08-16 13:45:05 -07:00 |
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Xuchen Han
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deb7c152c4
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add corotated model to lagrangian forces
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2019-08-16 13:45:05 -07:00 |
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Xuchen Han
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94aeb4657b
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add comment and initialization
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2019-08-16 13:45:05 -07:00 |
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Xuchen Han
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10e819db8e
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add grasping with joint motor example
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2019-08-16 13:45:05 -07:00 |
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Xuchen Han
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6d31c73216
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style fix and remove unused variable
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2019-08-16 13:44:59 -07:00 |
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