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ec403f790d271af9b33eabaab07cd454eb1437c3
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52 Commits

Author SHA1 Message Date
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
Erwin Coumans
93471a1c31 cmake Win32 fixes 
fixed some more warnings
added alignment macros to some classes
btPersistentManifold from 128 to 16 bytes aligned
prepare command to select collision filter mode (SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
 2017-01-16 13:05:26 -08:00
Erwin Coumans
c0c4c8ba3f fix many warnings 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
 2017-01-15 22:26:11 -08:00
erwincoumans
9ee1c4ec24 regular OR wireframe rendering, not both 
add option to perform filtering of 'getClosestPoints' using linkA/linkB.
don't use 'realtimesimulation' as default
add/remove debug items within same thread
pybullet, report contact points and normal as [x,y,z] triplet/vector, not 3 scalars
separate 'getClosestPointsAlgorithm': box-box doesn't report closest points with positive distance, and the query shouldn't impact regular 'closesst points'
 2016-11-19 17:13:56 -08:00
yunfeibai
ff2c79e6bc Fix a bug in softbody contact handling. 2016-11-03 12:14:39 -07:00
yunfeibai
479497997c Add grasp bunny example with multibody gripper. 2016-11-02 14:53:28 -07:00
yunfeibai
ab6ce65abe Add contact handling between multibody and softbody. 2016-11-02 13:21:01 -07:00
yunfeibai
3c37db0804 Add API to set bunny properties. Add example to show coupling between softbody and multibody. 2016-11-01 16:45:10 -07:00
yunfeibai
3dc56d7e92 Add files. 2016-10-17 23:46:56 -07:00
yunfeibai
e112b15281 Move btSoftMultiBodyDynamicsWorld to BulletSoftBody. 2016-10-17 23:40:38 -07:00
Andrew Meadows
c0c1691c25 fix whitespace formatting in cmake files 2015-12-07 14:08:04 -08:00
erwincoumans
6c9ce344ea fix shadowmap crash on some Intel GPUs, see https://github.com/bulletphysics/bullet3/issues/4 
remove targetdir from all libraries in premake, so it is much easier to create a separate folder for all binary+lib
transmit the serialized btMultiBody data back from server to client, after the server loads a URDF file. This includes base+link+joint names
tweak the serialization routines, so it is easier to skip pointers and to serialize directly to a shared memory buffer
also tweak the serialization code to allow to process data without 'DNA' schema data (assuming file-DNA = memory DNA)
 2015-07-10 22:20:06 -07:00
Erwin Coumans
92a612a146 fix in btSoftBodyInternals.h to avoid infinite recursion 'getMargin' 
but call base class instead
 2015-06-05 16:43:17 -07:00
erwincoumans
0160512a01 Merge pull request #275 from erwincoumans/master 
fix build
 2014-10-22 14:47:53 -07:00
erwin coumans
1ce647742c fix build 2014-10-22 14:46:48 -07:00
Kevin Watts
0623f99a27 Adding virtual dtors to classes in btSoftBody 2014-10-16 11:58:44 -07:00