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Author SHA1 Message Date
Erwin Coumans b5715c96cf Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-11-04 15:46:23 -08:00
Erwin Coumans f1f04aef53 add simple sceneAABB example 2019-11-04 15:45:58 -08:00
erwincoumans aac7370179 Merge pull request #2462 from xhan0619/master 
Deformable Improvement
 2019-10-31 15:13:21 -07:00
Xuchen Han 93835c195b turn off SVD 2019-10-31 12:57:19 -07:00
Xuchen Han 3f1e061966 turn on SVD 2019-10-31 12:53:12 -07:00
Xuchen Han 9ebbab959c use safenorm 2019-10-31 12:53:12 -07:00
Xuchen Han ec1ef0c465 add strain limiting to face contact to improve stability 2019-10-31 12:53:12 -07:00
Chuyuan Fu 41eb074406 avoid dividing by 0 2019-10-31 12:53:12 -07:00
Chuyuan Fu ae7c3e0dee compute COM taking non-uniform model into account 2019-10-31 12:53:12 -07:00
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 bda04cf904 Merge pull request #2459 from erwincoumans/master 
bump up to Bullet version 2.89 and update serialization structures
 2019-10-30 13:14:49 -07:00
erwincoumans a1cb87cdb6 Merge pull request #2424 from grdowns/vcpkg-instructions 
Add vcpkg installation instructions
 2019-10-30 12:26:27 -07:00
Erwin Coumans b2732b16be Merge remote-tracking branch 'bp/master' 2019-10-30 10:32:58 -07:00
Erwin Coumans 5a9b862ef5 bump up to Bullet version 2.89 and update serialization structures 2019-10-30 10:32:14 -07:00
erwincoumans 8aa7f93bf1 Merge pull request #2448 from fuchuyuan/mergechange 
merge warmstart
 2019-10-30 10:31:43 -07:00
erwincoumans 8e245d959e Merge pull request #2458 from xhan0619/cull-SVD 
cull out most of the SVD calculation when stress is low
 2019-10-30 08:31:54 -07:00
Xuchen Han 6dce8e4ff5 cull out most of the SVD calculation when stress is low 2019-10-29 22:39:10 -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
erwincoumans 501d1acea9 Merge pull request #2457 from erwincoumans/master 
return a value in a degenerate svd case
 2019-10-29 21:13:59 -07:00
Erwin Coumans 938ac51da7 return a value in a degenerate svd case 
re-disable svd by default
 2019-10-29 20:40:57 -07:00
erwincoumans 7acbb77535 Merge pull request #2456 from erwincoumans/master 
use mult instead of max to combine friction properties in deformable, add epsilon checks to avoid nan, termination condition if count > max_count (100)
 2019-10-29 20:15:37 -07:00
Erwin Coumans 7bffbb2351 add check against FLT_EPSILON/DBL_EPSILON for sqrt and division to avoid nan. 
add max_iterations count in svd as safety termination condition
 2019-10-29 18:28:30 -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
Erwin Coumans 574c240fbc Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-10-28 10:07:50 -07:00
Erwin Coumans 3f3175e314 disable Extras BulletRobotics by default in cmake 2019-10-28 10:07:22 -07:00
erwincoumans 74b173c30d Merge pull request #2449 from xhan0619/fix-deformable-performance 
Fix deformable performance
 2019-10-24 17:54:48 -07:00
Chuyuan Fu 404e4b9187 align multibody warmstart default value with rigidbody 2019-10-24 15:53:18 -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 8c3ddac521 restore default behavior 
take out condition
 2019-10-23 21:36:26 -07:00
Chuyuan Fu 913400eba1 add SOLVER_USE_ARTICULATED_WARMSTARTING option and APIs 
fix compile
 2019-10-23 21:36:26 -07:00
Chuyuan Fu ac680be673 fix space 2019-10-23 21:36:08 -07:00
Chuyuan Fu 08f53fc38d add warmstart 2019-10-23 21:36:08 -07:00
erwincoumans e4ba8be582 Merge pull request #2447 from xhan0619/fix-cloth-friction 
fix bug in deformable vs. deformable friction
 2019-10-23 19:31:12 -07:00
Xuchen Han c6af3aa3f8 fix bug in deformable vs. deformable friction 2019-10-23 12:17:21 -07:00
erwincoumans 9e72e01dad Merge pull request #2438 from MarkSakharov/fix/division_by_zero 
Fixing division by zero
 2019-10-19 17:39:32 -04:00
erwincoumans fe79395d39 Merge pull request #2430 from xhan0619/master 
Configure damping coefficients for neohookean models
 2019-10-19 17:35:48 -04:00
Mark S 88e4ca1970 Update btBatchedConstraints.cpp 
btVector3 constructor added.
 2019-10-19 02:34:45 +03:00
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
Mark Sakharov 95fd362857 Fixing division by zero 2019-10-16 23:36:02 +03:00
Xuchen Han 3d622a3bee enable deformable sleeping 2019-10-16 12:00:02 -07:00
Xuchen Han 3ae193ff15 bool->int 2019-10-15 15:43:26 -07:00
Xuchen Han 774937bcd6 add option to turn face contact on/off 2019-10-15 13:53:27 -07:00
Xuchen Han 05c25a27de address comment from ldowns 2019-10-15 13:51:33 -07:00
Xuchen Han a1afc66817 remove std::fabs and std::max 2019-10-15 13:51:33 -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 9e29f7108d remove Eigen 2019-10-15 13:50:13 -07:00
Xuchen Han 9546390fd6 clamp stress for NeoHookean in singular value space 2019-10-15 13:50:13 -07:00
Xuchen Han e87df18544 switch to damping model from Irvine 05 for its SPDness 2019-10-15 13:50:13 -07:00
Xuchen Han 87546bb7c3 prevent velocity of deformable from getting too big from explicit force 2019-10-15 13:50:13 -07:00
Xuchen Han 45c4497711 fix compile 2019-10-15 13:50:13 -07:00
Xuchen Han 0d742273c1 set default drag coefficient to 0 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 25a566c378 finish deformable sleeping and add option for drag 2019-10-15 13:50:13 -07:00
Xuchen Han 0d7ff567e6 bug fix in deformable predict motion 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 58a67f82fb set default integration scheme to explicit 2019-10-15 13:50:13 -07:00
Xuchen Han 94facf0029 typo fix 2019-10-15 13:50:13 -07:00
Xuchen Han ca92cf067e fix removeCollisionObject for Deformable world 2019-10-15 13:50:12 -07:00
Xuchen Han 3b945597d1 prevent narrow phase collision detection between rigid and soft when both are sleeping 2019-10-15 13:50:12 -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 4220c7f94c tune CG tolerance 2019-10-15 13:47:54 -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
erwincoumans 837e333ab2 Merge pull request #2432 from erwincoumans/master 
bump PyBullet version, fix mac osx compilation, suppress debug warning, fix slow full matrix multiply (unused)
 2019-10-10 09:44:27 -04:00
Erwin Coumans 31e778c913 avoid crashes in TinyRenderer 2019-10-09 22:26:20 -04:00
Erwin Coumans 3a4159c793 fix slow full btMatrixX operator* (was not used) 2019-10-08 19:31:58 -07:00
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
erwincoumans 3d87fb3b84 Merge pull request #2426 from xhan0619/faceContact 
Face contact
 2019-10-02 08:33:12 -07:00
Xuchen Han 5a55374d85 pass render nodes instead of simulated nodes to renderer 2019-10-01 14:48:34 -07:00
Xuchen Han 96bf2f2ff5 address PR comments 2019-10-01 14:47:49 -07:00
Erwin Coumans b6e5609f90 fix mac osx compilation 2019-09-30 14:08:22 -07:00
Erwin Coumans 0d948a2c56 Merge remote-tracking branch 'bp/master' 2019-09-30 09:10:45 -07:00
Erwin Coumans 1d123b6ceb bump up PyBullet version to 2.5.6 2019-09-30 09:09:26 -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 132f7fe751 update pybullet binding 2019-09-28 14:44:42 -07:00
Xuchen Han 212b990b0e remove auto and add include 2019-09-28 14:44:42 -07:00
Xuchen Han 9f11ac5d4d add include 2019-09-28 14:44:42 -07:00
Xuchen Han 11ad0f0dfd add btMatrix3x3 constructor from vectors 2019-09-28 14:44:42 -07:00
Xuchen Han c178905998 remove siData 2019-09-28 14:44:42 -07:00
Xuchen Han ccaddfca21 documentation and optimization 2019-09-28 14:44:42 -07:00
Xuchen Han a0acfd5195 code clean up 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 20abbc9ee7 add dynamic friction for deformable contact 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 2f9184acc9 remove position correction 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