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117 Commits

Author SHA1 Message Date
Xuchen Han
e5231b5cc5 restore behaviors of btSoftBody 2019-08-06 10:52:19 -07:00
Xuchen Han
6a599bde87 setDt in reinitialize and remove unused variables 2019-08-06 10:16:56 -07:00
Xuchen Han
73f5eb6a8f add profiling and code clean up 2019-08-05 16:49:04 -07:00
Xuchen Han
02d3a9469f code clean up + Zlib copyright header 2019-08-05 11:54:17 -07:00
Xuchen Han
c5d84c1a0b get rid of nullptr and std::function 2019-08-03 00:12:34 -07:00
Xuchen Han
021cbb2a0e include numeric_limits 2019-08-02 23:50:15 -07:00
Xuchen Han
8c04a78c9b switch from std::unordered_map to btHashMap 2019-08-02 23:26:11 -07:00
Xuchen Han
dae230912b typo fix 2019-08-02 15:51:38 -07:00
Xuchen Han
9a5ef6c849 update CMakeList 2019-08-02 15:41:10 -07:00
Xuchen Han
7f33d8cdb9 get rid of 'using' 2019-08-02 15:27:10 -07:00
Xuchen Han
f624b60c19 get rid of auto 2019-08-02 15:19:37 -07:00
Xuchen Han
8cc7cb59d7 clean up examples 2019-08-02 14:06:42 -07:00
Xuchen Han
54303e02b1 perform position correction only when objects are penetrating 2019-08-02 13:21:06 -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
ec403f790d factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody 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
243b9fc8c7 combat friction drift in positionCorrect by changing velocity and change it back (effectively only changing position) 2019-08-02 13:14:15 -07:00
Xuchen Han
a90cad2a96 deformable code refactor 2019-08-02 13:13:21 -07:00
Xuchen Han
dc10336d45 code clean up + check in examples 2019-08-02 13:12:59 -07:00
Xuchen Han
3430192db7 reformulate friction 2019-08-02 13:12:51 -07:00
Xuchen Han
7846dd38dd switch explicit elastic force 2019-08-02 13:12:51 -07:00
Xuchen Han
2fc376e8f5 bug fix in friction; accumulate friction impulses in cg; forbid switching from static to dynamic friction 2019-08-02 13:12:51 -07:00
Xuchen Han
befab4eab6 reorganize the contact constraints 2019-08-02 13:12:51 -07:00
Xuchen Han
bac7d461c5 fix bugs in poststablize and projection of colinear constraints 2019-08-02 13:12:51 -07:00
Xuchen Han
ac628f4d39 add two way coupled penetration resolution; not momentum conserving, but seem to work fine 2019-08-02 13:12:42 -07:00
Xuchen Han
98cd9a85e4 generalize preconditioner, now supports mass preconditioning 2019-08-02 13:12:41 -07:00
Xuchen Han
696c96f392 bug fix in projection; start friction 2019-08-02 13:12:41 -07:00
Xuchen Han
4e5f4b9fe9 reformulate how constraints are managed in the projection class 2019-08-02 13:12:41 -07:00
Xuchen Han
b28f1fdac3 add support for more than one constraint for a single deformable node 2019-08-02 13:12:41 -07:00
Xuchen Han
b7e512a5f9 sync gravity with substeps 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
13d4e1cc2b bug fixes in constraints projections; cpplized various functions 2019-08-02 13:12:41 -07:00
Xuchen Han
786b0436ec fixed gravity issue in rigid body and deformable body contact solve 2019-08-02 13:12:27 -07:00
Xuchen Han
b8997c36b2 update contact projection 2019-08-02 13:10:56 -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
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
Erwin Coumans
42ae4e81a8 apply clang-format (on Mac, slightly different than running it on Windows) 2018-09-30 11:43:57 -07:00
erwincoumans
ab8f16961e Code-style consistency improvement: 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
 2018-09-23 14:17:31 -07:00
Erwin Coumans
988d78cb61 enable btMultiBodyGearConstraint positional error correction 
fix multibody debug drawing of joint frames
 2018-05-01 17:40:26 -07:00
Erwin Coumans
508550c5e9 fix premake build for linux, thanks to @consultit 
See also issue #1538
 2018-02-09 18:46:26 -08:00
erwincoumans
c4b1b84687 Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis 
https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section)
Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
 2018-01-09 22:47:56 -08:00
Erwin Coumans
4084c1cc71 also add serializeContactManifolds to btSoftMultiBodyDynamicsWorld.cpp and btDiscreteDynamicsWorld. 2017-12-30 14:20:20 -08:00
erwincoumans
17115f38c2 add some timings, small fix in btSoftBody related to btMultiBody interaction 2017-09-29 07:50:04 -07:00
Sam Hocevar
903cc96c1a Fix one-sided soft bodies. 
A coding mistake in btSoftBody::addAeroForceToNode() was applying forces
in the wrong direction for one-sided soft bodies.
 2017-09-01 18:47:46 +02:00
nicolaichuk
5527e36139 Merge remote-tracking branch 'remotes/bulletphysics/master' 
# Conflicts:
#	src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
 2017-03-23 14:28:49 +03:00
nicolaichuk
bbf54cb05c remove inline in function definition 2017-03-23 14:20:58 +03:00
nicolaichuk
db065b8af8 fix redefinition 2017-03-23 14:15:51 +03:00
Szabolcs Dombi
3052477c67 cast vertex data (btScalar) to float 2017-03-13 18:27:57 +01:00