jingyuc
3a84b05058
Added a new friction slope example (ground is rotating). Fixed a problem in the reduced deformable's friction (now clamp the maximum tangential impulse based on the tangential velocity impulse at the current iteration, not the total tangential velocity at the beginning)
2021-09-06 17:56:32 -04:00
Brendan Lewis
b1927a4f92
Merge branch 'bulletphysics:master' into master
2021-09-05 19:31:37 -04:00
Erwin Coumans
4e881118ef
bump up pybullet/bullet version to 3.18
2021-09-03 17:06:01 -07:00
jingyuc
df07b42318
contact with moving rigid body is working. There is a sign error when calculating the deltaVelocity of the solverBody
2021-09-03 17:32:26 -04:00
jingyuc
f2e114fc81
fixed the wrong dimension used to calculate the inertia tensor in btReducedSoftBodyHelpers
2021-09-03 14:47:31 -04:00
jingyuc
e70fc6453b
add support for initial rotation
2021-09-02 21:32:16 -04:00
erwincoumans
b638300fe4
Merge pull request #3951 from erwincoumans/master
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implement resetMeshData for deformable bodies, fix tiny_renderer standalone example
2021-09-02 18:03:23 -07:00
Erwin Coumans
b6df08b553
implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms.
2021-09-02 17:27:05 -07:00
jingyuc
93e00054e3
set up reduced grasping example
2021-09-02 13:35:14 -04:00
Felix Büttner
4b6ec20b30
External force and torque frame fix
2021-09-02 17:40:18 +02:00
jingyuc
104410c63d
fixed an incorrect impulse factor in btSoftBodyInternals. The total impulse factor is now calculated in the constraint solver class.
2021-09-02 00:20:19 -04:00
erwin coumans
3577ef8108
Merge branch 'master' of github.com:erwincoumans/bullet3 into master
2021-09-01 15:00:10 -07:00
erwin coumans
7de63bdbc5
fix tiny_renderer standalone example
2021-09-01 15:00:01 -07:00
erwincoumans
3fee64fb95
Merge pull request #3949 from fuchuyuan/fixasan
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Fixasan
2021-09-01 13:58:57 -07:00
jingyuc
c2601663e4
debugging moving rigid vs reduced deformable contact
2021-09-01 16:36:52 -04:00
Chuyuan Fu
9b3c8c8dbb
fix format
2021-09-01 13:18:58 -07:00
Chuyuan Fu
b795243cc5
fix asan
2021-09-01 13:18:58 -07:00
jingyuc
634c8b7b38
Merge branch 'bulletphysics:master' into master
2021-08-31 20:16:15 -04:00
jingyuc
42fac2e364
fixed a minor issue: disable deactivation for the reduced collision example
2021-08-31 01:33:38 -04:00
erwincoumans
31b8841efc
Merge pull request #3948 from erwincoumans/master
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add low-resolution Laikago (for faster rendering in CPU renderer) and cleanup sdf files
2021-08-30 13:01:15 -07:00
Erwin Coumans
68424feb2d
don't use empty frame for pose in sdf files
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use hint for clang that if (0) is intentional
2021-08-30 19:40:20 +00:00
jingyuc
b1803afbb9
collision with moving rigid body seems to be working. checking why there is side motion
2021-08-30 13:19:33 -04:00
erwincoumans
5ec0820c0e
Merge pull request #3920 from araffin/feat/sb3
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Migrate to Stable-Baselines3
2021-08-29 15:01:27 -07:00
jingyuc
3e76b11d46
add check for momentum conservation
2021-08-26 13:41:26 -04:00
jingyuc
f26e3d133d
set up the reduced vs rigid collision example
2021-08-26 12:47:09 -04:00
jingyuc
6a87310d3c
friction is working now
2021-08-25 16:38:57 -04:00
jingyuc
52abe35e41
friction seems to be working. However, when the block is only sliding on the surface, there is no friction because no delta normal impulse...need to think
2021-08-25 00:38:29 -04:00
Brendan Lewis
090f8369f8
Fix: remove cmake policy 0115 errors
2021-08-24 21:39:12 -04:00
jingyuc
166dc2865d
frictionless contact also works with reduced modes enabled
2021-08-24 16:30:33 -04:00
jingyuc
c735830f0a
more stable rigid contact
2021-08-24 15:08:57 -04:00
jingyuc
840db372b9
delta impulse version is working
2021-08-24 00:40:27 -04:00
erwincoumans
41158a4be8
Merge pull request #3937 from fuchuyuan/deformableContact
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implement request deformable contact info
2021-08-23 12:25:55 -07:00
jingyuc
d9152b9cf5
WIP warm starting
2021-08-23 01:17:58 -04:00
jingyuc
368385d5ad
need to project the impulse on the normal to prevent sliding
2021-08-21 15:54:34 -04:00
Chuyuan Fu
107295db5f
fix typo
2021-08-19 09:32:49 -07:00
Chuyuan Fu
e16c9bb1cc
implement request deformable contact info
2021-08-18 18:48:35 -07:00
jingyuc
70ec2f9d46
use the correct relative position to apply the impulse
2021-08-18 16:24:46 -04:00
jingyuc
0444fea9eb
collision impulse starts to look reasonable, but the motion is still strange.
2021-08-18 14:31:59 -04:00
erwin coumans
7ac95be8cd
add training and run/eval scripts to train envs_v2 Laikago pmtg
2021-08-17 08:56:30 -07:00
jingyuc
eacdbe67a0
reduced velocity should be updated from i-th iteration instead of from the predicted state, because thexternal force has no memory of the previous iteration
2021-08-16 14:36:35 -04:00
jingyuc
9a17391a9a
modified the code. explicit time stepping should only be implicit in velocity
2021-08-13 16:34:34 -04:00
jyc-n
d6d8c3ceac
reworking static constraint WIP
2021-08-12 22:36:39 -04:00
jingyuc
35f7a1a569
add new reduced deformable contact constraint class. able to call the reduced soft body's apply impulse function
2021-08-12 12:31:44 -04:00
jingyuc
e4e8f1ad93
add tree updates in predict motion.
2021-08-11 15:58:40 -04:00
jingyuc
6355b06a8b
use deformable contact detection for the reduced deformable model
2021-08-10 16:31:53 -04:00
jyc-n
3425c01acc
created new free fall example. WIP
2021-08-09 16:26:17 -04:00
jyc-n
042a1f75c9
clean up
2021-08-09 14:54:58 -04:00
jingyuc
a56ce358f3
reduced dofs and interpolated transform needs to be updated from the time_n states in the iteration
2021-08-09 12:43:59 -04:00
jingyuc
0acf18f246
need to update the rigid frame every time when the impulse is applied. reduced external force needs to be zeroed in every iteration.
2021-08-09 11:23:52 -04:00
notrabs
b2fd9a492d
Fix crash when btSoftBody collides with btBvhTriangleMeshShape inside a btCompoundShape
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- The triBody->getCollisionShape() returns the btCompoundShape again, which does not implement the btConcaveShape interface required
- The crash happens when processAllTriangles is called below
2021-08-08 01:11:04 +02:00
