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Author SHA1 Message Date
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
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
erwincoumans
cb654ddc80 Merge pull request #2367 from erwincoumans/master 
allow to update heightfield, see PyBullet: allow to update an existing heightfield shape Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default) See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
 2019-08-14 21:47:45 -07:00
Erwin Coumans
648844e898 minor fixes, bump up pybullet to 2.5.5 2019-08-14 21:30:10 -07:00
Erwin Coumans
f09cefabe8 Merge remote-tracking branch 'bp/master' 2019-08-14 21:14:56 -07:00
erwincoumans
6feb1b25db Merge pull request #2365 from fuchuyuan/updateLoadingSoftBody 
update loading softbody
 2019-08-14 21:14:10 -07:00
erwincoumans
7fa70c3857 Merge pull request #2351 from xhan0619/Deformable 
Add deformable body world and solver
 2019-08-14 21:13:41 -07:00
Erwin Coumans
88d1788ee5 PyBullet: allow to update an existing heightfield shape 
Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default)
See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
 2019-08-14 21:06:10 -07:00
erwincoumans
75df77611a Merge pull request #2366 from fuchuyuan/tinyObjUpdate 
update obj loader
 2019-08-14 13:37:14 -07:00
Chuyuan Fu
eacebc80d5 fix compile 2019-08-14 11:01:48 -07:00
Chuyuan Fu
10108cd3ea update obj loader 2019-08-13 16:53:51 -07:00