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2773 Commits

Author SHA1 Message Date
Chuyuan Fu
74571d79e7 add compute softbody com 2019-10-31 12:53:12 -07:00
Chuyuan Fu
618c85325c give softbody name 2019-10-31 12:53:12 -07:00
erwincoumans
8aa7f93bf1 Merge pull request #2448 from fuchuyuan/mergechange 
merge warmstart
 2019-10-30 10:31:43 -07:00
erwincoumans
959a48a1a0 Merge pull request #2454 from krishpop/patch-1 
Fix call to convert_to_leg_model
 2019-10-29 21:16:01 -07:00
Krishnan Srinivasan
0d4108f307 Fix call to convert_to_leg_model 
Fix call to convert_to_leg_model which is defined as a static method without an underscore in MinitaurExtendedEnv
 2019-10-29 16:00:55 -07:00
Erwin Coumans
136607151e use mult instead of max to combine friction properties 
use 0.5 friction for ground for a demo, and also a larger grid size
update description of deformable algorithm
disable SVD for now, has some issue with some compilers
 2019-10-28 12:53:59 -07:00
Xuchen Han
23dbea16f3 initialize m_useSelfCollision 2019-10-24 15:28:21 -07:00
Xuchen Han
270028363b Fix some performance issues caused by unneccessarily small sdf grid size. 2019-10-24 15:03:23 -07:00
Chuyuan Fu
913400eba1 add SOLVER_USE_ARTICULATED_WARMSTARTING option and APIs 
fix compile
 2019-10-23 21:36:26 -07:00
Xuchen Han
c6af3aa3f8 fix bug in deformable vs. deformable friction 2019-10-23 12:17:21 -07:00
Xuchen Han
36f7441790 support anchor constraint between deformable and multibody 2019-10-17 16:45:28 -07:00
Xuchen Han
60dfe1fe69 add support for anchor constraint between deformable and rigid 2019-10-16 19:23:01 -07:00
Xuchen Han
3ae193ff15 bool->int 2019-10-15 15:43:26 -07:00
Xuchen Han
30238b2fbc remove std::copysign 2019-10-15 13:51:33 -07:00
Xuchen Han
a7222d8a9f add option to set stress clamping limit 2019-10-15 13:51:33 -07:00
Xuchen Han
45c4497711 fix compile 2019-10-15 13:50:13 -07:00
Xuchen Han
992e1454b6 turn on SKIP_DEFORMABLE 2019-10-15 13:50:13 -07:00
Xuchen Han
c808bb78c7 delete lagrangian force when deleting dynamics world from command processor 2019-10-15 13:50:13 -07:00
Xuchen Han
94facf0029 typo fix 2019-10-15 13:50:13 -07:00
Xuchen Han
c610ba49df fix bug in computing rhs in momentum solve 2019-10-15 13:47:55 -07:00
Xuchen Han
0cb7cb2445 bool->int 2019-10-15 13:47:55 -07:00
Xuchen Han
e13578fee3 add option to turn self-collision on/off 2019-10-15 13:47:55 -07:00
Xuchen Han
d0e4bbf04d fix gravity set up 2019-10-15 13:47:54 -07:00
Xuchen Han
ec91a0ffa4 configure damping coefficients for neohookean models 2019-10-15 13:47:54 -07:00
Erwin Coumans
31e778c913 avoid crashes in TinyRenderer 2019-10-09 22:26:20 -04:00
Erwin Coumans
2caf4505f0 pybullet: suppress debug printf (obj texture coordinate out-of-range) 2019-10-03 09:25:54 -07:00
Erwin Coumans
9a6c6a3fb4 Merge remote-tracking branch 'bp/master' 2019-10-02 22:39:51 -07:00
Xuchen Han
5a55374d85 pass render nodes instead of simulated nodes to renderer 2019-10-01 14:48:34 -07:00
Erwin Coumans
b6e5609f90 fix mac osx compilation 2019-09-30 14:08:22 -07:00
Xuchen Han
187019268c enable deformable vs. deformable and self-collision in deformable loading 2019-09-28 15:10:06 -07:00
Xuchen Han
2d045de589 parameter change in ClothFriction Demo 2019-09-28 14:44:42 -07:00
Xuchen Han
ccaddfca21 documentation and optimization 2019-09-28 14:44:42 -07:00
Chuyuan Fu
cd27ffd8b0 add body type info to dynamics info 2019-09-28 14:44:42 -07:00
Xuchen Han
977bdb4e0e adjust parameters 2019-09-28 14:44:41 -07:00
Xuchen Han
cb46440e17 add normal cone optimization for self-collision 2019-09-28 14:44:41 -07:00
Xuchen Han
657a7468b3 documentation and optimization 2019-09-28 14:44:41 -07:00
Xuchen Han
416e516735 add naive implementation of self collision 2019-09-28 14:44:41 -07:00
Xuchen Han
be7383cc03 update examples to test different time stepping schemes (namely explicit, implicit and implicit with line search)/ 2019-09-28 14:44:41 -07:00
Xuchen Han
ef5aa6e73b add options to toggle between whether line search is used & add more documentation 2019-09-28 14:44:41 -07:00
Xuchen Han
0501fe1bbd add cloth demo to show deformable friction 2019-09-28 14:44:41 -07:00
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
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
f813cb1c88 modify loadSoftBody to enable separate render mesh from simulation mesh 2019-09-28 14:44:41 -07:00
Chuyuan Fu
e74ffa2f65 add body type info to dynamics info 2019-09-28 14:43:40 -07:00
Xuchen Han
27bf4d3372 new vtk mesh 2019-09-28 14:43:40 -07:00
Erwin Coumans
0549fd4ecc PyBullet eglPlugin: 
use -1 as default egl render device
clear m_cachedVisualShapes at reset
 2019-09-27 17:14:36 -07:00
Erwin Coumans
391411b660 fix use of uninitialized variable 2019-09-25 13:49:11 -07:00