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6beeac7065b9799f2bf7f5fb4f6127d7ca4b29f1
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862 Commits

Author SHA1 Message Date
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
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
07bf736aeb build islands once and process islands arbitrary number of times in update constraints 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
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
94aeb4657b add comment and initialization 2019-08-16 13:45:05 -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
Xuchen Han
436b6c6963 separate multibody position prediction into standalone function 2019-08-08 17:14:13 -07:00
Chuyuan Fu
4f70e71afa take out btrigidbody field mass 2019-08-06 16:18:43 -07:00
Chuyuan Fu
1cb3655f71 add support to load rigidbody 2019-08-05 13:38:43 -07:00
Xuchen Han
8cc7cb59d7 clean up examples 2019-08-02 14:06:42 -07:00
Xuchen Han
3dc8abcf36 only call buildIslands once for multibody in each timestep 2019-08-02 13:15:06 -07:00
Xuchen Han
f1e7ce9ce1 add multibody interpolation transform so that collision detection is consistent with rigidbody 2019-08-02 13:15:06 -07:00
Xuchen Han
233a381e7c add correct impulse matrix to multibody-deformable contact 2019-08-02 13:15:00 -07:00
Xuchen Han
a90cad2a96 deformable code refactor 2019-08-02 13:13:21 -07:00
Xuchen Han
77d670ae41 separate external force solve from constraint solve and eliminate damping in external force solve 2019-08-02 13:12:41 -07:00
Xuchen Han
c4e316f005 btDeformableRigidWorld now inherits from btMultiBodyDynamicsWorld instead of btSoftRigidDynamicsWorld 2019-08-02 13:12:41 -07:00
Xuchen Han
35ce2ae0e2 add contact constraint as projections in CG 2019-08-02 13:10:56 -07:00
Xuchen Han
32836b0694 set up deformable world and solver (does not support contact or friction yet) 2019-08-02 13:10:17 -07:00
Erwin Coumans
3eedb2a6f2 fix rotational friction between btMultiBody and btRigidBody 2019-07-24 22:07:16 -07:00
Andrea Catania
960cadd919 Fix initialization order 
This commit is necessary in order to fix the error that we get in godot with the flag: "-Werror=reorder"
 2019-06-03 12:54:19 +02:00
erwincoumans
36896db828 Merge remote-tracking branch 'bp/master' 2019-06-01 07:29:31 -07:00
erwincoumans
4d3ee40895 Update btLemkeSolver.h 
address this issue: https://github.com/bulletphysics/bullet3/pull/2253
 2019-05-31 19:09:28 -07:00
Erwin Coumans
f838e22bd9 fix some warnings 2019-05-31 19:00:38 -07:00
Rémi Verschelde
d85b800702 Convert DOS (CRLF) source files to Unix (LF) line endings 
Excluded `examples/pybullet/gym/pybullet_data/` which has many (3000+)
CRLF data files (obj, mtl, urdf), and `docs/pybullet_quickstart_guide`
which has generated .js and .htm files with CRLF line endings too.
 2019-05-22 10:01:32 +02:00
Andrea Catania
4dad15946b Multibody memory invalid writing 
Related #2233
 2019-05-06 17:56:18 +02:00
erwincoumans
38f45d7137 Update btMultiBodyDynamicsWorld.cpp 2019-04-27 14:16:44 -07:00
erwincoumans
a929e8f2e5 Merge pull request #2203 from erwincoumans/master 
implement stablePD control version of testLaikago,  fix getCameraImage in VR,  only report solver analytics if enabled using setPhysicsEngineParameter
 2019-04-15 08:52:03 -07:00
erwincoumans
e97a7d77af only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1) 2019-04-14 18:20:20 -07:00
erwincoumans
5ff52e47d9 report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error. 2019-04-11 22:19:02 -07:00
Steven
bdf0553077 don't need to call the computeAccelerationsArticulatedBodyAlgorithmMultiDof() the second pass if the m_internalNeedsJointFeedback is false. 2019-04-09 20:13:54 +08:00
Erwin Coumans
150a6a0880 Qualify calls to certain functions from the cmath library. 2019-03-14 16:57:50 -07:00
erwincoumans
a9e350b0fb Merge pull request #2141 from erwincoumans/blocksolver 
solver experiment
 2019-03-06 22:02:44 -08:00
erwincoumans
04441a29cc Implement 'cone friction' for the rolling friction, to avoid curved trajectories for contact with rolling friction enabled. 
(and separate spinning friction from rolling friction)
Fixes Issue 2117
 2019-03-03 17:10:01 -08:00
erwincoumans
36a9dcf368 remove src/BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.cpp and examples/ConstraintSolvers/* code 
revert changes to btMultiBodyConstraintSolver/btSequentialImpulseConstraintSolver related to btMultiBodyBlockConstraintSolver
 2019-02-27 17:10:17 -08:00
erwincoumans
48d84e7899 revert experiment not passing the constraint solver back down from btMultiBodyDynamicsWorld to btDiscreteDynamicsWorld. 2019-02-27 16:00:56 -08:00
erwincoumans
d7e087de16 prepare small experiment with block solver 2019-02-26 23:27:05 -08:00
erwincoumans
c44471c38c preparation for block solver btRigidBody. 2019-02-26 20:24:15 -08:00
erwincoumans
bdf9b10246 more work on pybullet_envs.deep_mimic. 
allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.
 2019-02-18 17:57:02 -08:00
erwincoumans
014c68388e fix createVisualShape.py ray vertical/horizontal and retina scale, fixes Issue 2085 
fix memory leak in removeBody, fixes issue 2086
 2019-01-30 15:29:43 -08:00
erwincoumans
93087f36df avoid conflicts when using a unity build (single cpp file including many other cpp) 2019-01-23 13:35:58 -08:00
erwincoumans
ae8e83988b Add preliminary PhysX 4.0 backend for PyBullet 
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
 2019-01-22 21:08:37 -08:00
erwincoumans
93a6846931 Merge pull request #2042 from erwincoumans/master 
Increase mesh allocation for vertices/indices in PyBullet.createColli…
 2019-01-04 07:52:32 -08:00
Erwin Coumans
19aafd5221 PyBullet: handle the switch from fixed base to floating base when changing mass from zero to non-zero 2019-01-03 17:35:12 -08:00
erwincoumans
126b676220 Merge pull request #2034 from erwincoumans/master 
Cleaning up the issue tracked with old/out-of-date/issues that haven't been addressed for too long.
 2018-12-31 12:42:41 -08:00
Erwin Coumans
6661b1ac71 internalApplyImpulse already applies the getLinearFactor, fixes Issue 71 2018-12-22 16:53:52 -08:00
Erwin Coumans
44f8064855 Fix Issue 61 related to character controller, 
see 6cb832140d
 2018-12-22 16:44:36 -08:00