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Commit Graph

2600 Commits

Author SHA1 Message Date
erwincoumans
6428ed5e5f Merge pull request #2563 from Lopuska/patch-1 
add btCollisionDispatcherMt.cpp on unity build
 2020-01-12 09:05:34 -08:00
erwincoumans
66ffa329c8 Merge pull request #2577 from xhan0619/master 
Add position error into deformable vs. rigid contact
 2020-01-11 16:05:15 -08:00
erwincoumans
5bf6adcf9d Update btCollisionDispatcherMt.h 
add a space to fix compile errors
 2020-01-11 06:57:35 -08:00
Xuchen Han
ee2a811c09 parameter tweaks after testing on robot 2020-01-04 19:29:52 -08:00
Xuchen Han
a274bcbfa3 add position error into deformable vs. rigid solve 2019-12-31 19:18:37 -08:00
Lopuska
8f03a69e95 add btCollisionDispatcherMt,cpp on unity build 2019-12-31 23:07:03 +01:00
Xuchen Han
d7442cee21 add strain rate limiting 2019-12-31 14:04:18 -08:00
Xuchen Han
79c1343b6a change number of quadrature points from 3 to 2 2019-12-31 14:03:54 -08:00
Xuchen Han
a808d74895 fix bug in the pretransform of rigid body interpolation transform 2019-12-30 10:55:30 -08:00
Anis
de9ac113c4 a better approach to merge new manifolds on multithreaded CPU dispatcher 2019-12-30 02:17:59 +01:00
Xuchen Han
442047a862 more bug fixes 2019-12-27 13:16:31 -08:00
Xuchen Han
65b75e5937 bug fixes for face contact to prevent sticking 2019-12-27 12:43:08 -08:00
erwincoumans
c9a0646bda Merge pull request #2548 from dbartolini/cleanup-dbvt-init-order 
Fix warning with -Wreorder
 2019-12-24 10:03:35 -08:00
Erwin Coumans
c2d52750da enable rolling/spinning friction for all contacts 2019-12-23 10:39:39 -08:00
Erwin Coumans
3fa67ea7d4 fix memory leak in previous commit (delete m_solverDeformableBodyIslandCallback!) 2019-12-20 18:18:45 -08:00
Xuchen Han
4ab0387262 Merge remote-tracking branch 'origin/master' 
merge origin/master
 2019-12-18 23:18:16 -08:00
Xuchen Han
89553c44e7 solve constraints involving deformable objects according to islands 2019-12-18 23:11:34 -08:00
Daniele Bartolini
94f0a14e43 Fix warning with -Wreorder 2019-12-18 21:20:49 +01:00
erwincoumans
4414136f32 Merge pull request #2541 from dbartolini/cleanup-fix-multi-line-warning 
Fix multi-line comment warning with -Wcomment
 2019-12-17 19:10:07 -08:00
erwincoumans
63843dffc2 Merge pull request #2543 from dbartolini/cleanup-fix-user-headers 
Fix warning with -Wunused-parameter
 2019-12-17 19:09:20 -08:00
erwincoumans
2d66858918 Merge pull request #2544 from dbartolini/cleanup-dbvt 
Remove unnecessary copy constructor in btDbvt
 2019-12-17 19:08:52 -08:00
erwincoumans
613f39988c Merge pull request #2540 from dbartolini/cleanup-broadphase-proxy 
Remove unnecessary copy constructor in btBroadphasePair
 2019-12-17 19:08:36 -08:00
Xuchen Han
f65a8b03c0 separate deformable contact solve by islands WIP 2019-12-17 18:27:23 -08:00
Daniele Bartolini
4ea4c7ef6a Remove unnecessary copy constructor in btDbvt 2019-12-15 01:21:24 +01:00
Daniele Bartolini
78398df00e Fix warning with -Wunused-parameter 2019-12-15 01:03:01 +01:00
Daniele Bartolini
b91124b012 Fix multi-line comment warning with -Wcomment 2019-12-15 00:41:00 +01:00
Daniele Bartolini
0aa4974b98 Remove unnecessary copy constructor in btBroadphasePair 2019-12-15 00:35:44 +01:00
Xuchen Han
d38ea87027 add gripper with deformable cloth demo 2019-12-13 14:33:54 -08:00
Erwin Coumans
082a1ddbfe remove bla 2019-12-11 17:08:59 -08:00
Erwin Coumans
2ced9c504a make it a one-liner, so clang-cl doesn't fail on Windows 2019-12-11 14:04:55 -08:00
Erwin Coumans
202cf18995 allow to compile using clang-cl on visual studio (disable SSE) 2019-12-11 13:07:53 -08:00
Erwin Coumans
8113bc72d5 Merge remote-tracking branch 'bp/master' 2019-12-05 08:06:16 -08:00
Erwin Coumans
7b072f1f28 fix clang warning unction 'btSoftBody::checkDeformableFaceContact' has a definition with different parameter names 2019-12-05 08:05:32 -08:00
erwincoumans
44f21e462a Merge pull request #2509 from xhan0619/separate-bending-stiffness 
Separate in-plane and bending stiffness for mass spring model
 2019-12-04 07:34:28 -08:00
Xuchen Han
7bce5d61f4 separate in-plane and bending stiffness for mass spring model for easier parameter tuning 2019-11-27 11:40:10 -08:00
Xuchen Han
39df98465e set a smaller dt for deformable_ball.py for stability and typo fix 2019-11-25 17:07:00 -08:00
Xuchen Han
abd7a556e1 Merge remote-tracking branch 'origin/master' 2019-11-25 15:29:25 -08:00
Erwin Coumans
96deb42aa5 pybullet.createSoftBodyAnchor 2019-11-19 19:20:08 -08:00
Erwin Coumans
431a71ebad fix indexing in tetrahedra 2019-11-19 16:27:57 -08:00
Erwin Coumans
e5ed15c3b2 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 23:37:23 -08:00
Erwin Coumans
655981c6ad fix load_soft_body.py example. 
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
 2019-11-18 23:37:22 -08:00
Erwin Coumans
920b253e87 Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering. 2019-11-18 23:37:22 -08:00
Erwin Coumans
363dc8d431 tweak hash function (sdf) 2019-11-18 21:46:05 -08:00
Erwin Coumans
1f6d504e44 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 10:22:56 -08:00
Erwin Coumans
72e0e7c223 fix load_soft_body.py example. 
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
 2019-11-14 21:20:42 -08:00
Erwin Coumans
9ca957387f Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering. 2019-11-12 20:08:49 -08:00
Xuchen Han
2edd94c722 add option to approximate face contact with collision quadrature points 2019-11-12 17:10:39 -08:00
Xuchen Han
42b5c93bad approximate face contact WIP 2019-11-12 11:50:47 -08:00
Xuchen Han
794614f269 change collision detection between deformables to from continuous to discrete 2019-11-11 13:58:03 -08:00
erwincoumans
b25d806b14 Merge pull request #2475 from xhan0619/fix-issue-#2473 
Fix issue #2473
 2019-11-08 20:45:05 -08:00