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44 Commits

Author SHA1 Message Date
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
3d622a3bee enable deformable sleeping 2019-10-16 12:00:02 -07:00
Xuchen Han
774937bcd6 add option to turn face contact on/off 2019-10-15 13:53:27 -07:00
Xuchen Han
a7222d8a9f add option to set stress clamping limit 2019-10-15 13:51:33 -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
0d742273c1 set default drag coefficient to 0 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
3b945597d1 prevent narrow phase collision detection between rigid and soft when both are sleeping 2019-10-15 13:50:12 -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
cb46440e17 add normal cone optimization for self-collision 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
ae42cc561e add damping energy in line search 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
403eb62dfa code clean up and optimization 2019-09-28 14:44:41 -07:00
Xuchen Han
109d9353af switched to deformable rigid contact from Jacobi to Gauss Seidel 2019-09-28 14:44:41 -07:00
Xuchen Han
f99cf56149 finished refactoring; start adding face contact 2019-09-28 14:44:41 -07:00
Xuchen Han
acfcc3fc9a updates to interpolation for rendering mesh 2019-09-28 14:43:40 -07:00
Xuchen Han
a47eeb8225 add render mesh interpolation from simulation mesh 2019-09-28 14:43:40 -07:00
Xuchen Han
d4a15e016e add newton solver 2019-09-04 18:48:00 -07:00
Xuchen Han
e73f70efa2 swap m_x and m_q in softbody to align with rendering convention 2019-09-04 18:48:00 -07:00
Xuchen Han
4df31305a8 remove iostream dependency 2019-08-21 22:31:30 -07:00
Xuchen Han
76d37ec475 bug fix in updateDeformation 2019-08-20 10:37:25 -07:00
Xuchen Han
54bd93aad2 move deformation update to before explicit force calculation to prevent repetition of F calculation 2019-08-19 11:30:25 -07:00
Xuchen Han
fce1296413 fix the issue that compound objects's child does not get rotated in the material space in interpolationWorldTransform 2019-08-16 13:45:29 -07:00
Xuchen Han
deb7c152c4 add corotated model to lagrangian forces 2019-08-16 13:45:05 -07:00
Xuchen Han
e5231b5cc5 restore behaviors of btSoftBody 2019-08-06 10:52:19 -07:00
Xuchen Han
54303e02b1 perform position correction only when objects are penetrating 2019-08-02 13:21:06 -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
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
7846dd38dd switch explicit elastic force 2019-08-02 13:12:51 -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
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
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
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
erwin coumans
1ce647742c fix build 2014-10-22 14:46:48 -07:00
Erwin Coumans
222ecb156d add GImpact and BulletSoftBody, until we have replacement (otherwise it prevents people from migrating to the github/Bullet3 repository) 2013-12-18 09:05:30 -08:00