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2569 Commits

Author SHA1 Message Date
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
Xuchen Han
362bc6d9a3 fix the bug that prevents the pd control forces/torques being added 2019-11-08 17:08:59 -08:00
Xuchen Han
059e23d381 fix old soft body collision issue #2473 2019-11-07 13:00:13 -08:00
Xuchen Han
baa9dcdf08 move erp for deformable into a separate parameter 2019-11-07 12:13:51 -08:00
erwincoumans
0cdddb874c Merge pull request #2461 from aaronfranke/seperate-typo 
Fix "seperate" typos
 2019-11-06 14:26:06 -08:00
erwincoumans
d6dbc9d3ca Merge pull request #2467 from xhan0619/split-impulse 
Split impulse
 2019-11-06 14:23:26 -08:00
Xuchen Han
9068b7ed91 turn off SVD 2019-11-05 18:16:13 -08:00
Xuchen Han
b55ebac2d9 update CMakeLists 2019-11-05 18:09:38 -08:00
Xuchen Han
13314360a8 add option for deformable rigid split impulse 2019-11-05 18:07:58 -08:00
Xuchen Han
fb85b2e05f add a linear elasticity model 2019-11-05 18:07:58 -08:00
Xuchen Han
4347c03459 turn on SVD and use fewer CG iterations 2019-11-03 12:47:08 -08:00
Xuchen Han
1bd0eee0ff fix indexing bug in deformable sleeping 2019-11-03 12:44:45 -08:00
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
Aaron Franke
133fd3a73c Fix "seperate" typos 2019-10-31 08:29:09 -04:00
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
Xuchen Han
6dce8e4ff5 cull out most of the SVD calculation when stress is low 2019-10-29 22:39:10 -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
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
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
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