56 Commits

Author	SHA1	Message	Date
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
Xuchen Han	794614f269	change collision detection between deformables to from continuous to discrete	2019-11-11 13:58:03 -08:00
Xuchen Han	baa9dcdf08	move erp for deformable into a separate parameter	2019-11-07 12:13:51 -08:00
Xuchen Han	13314360a8	add option for deformable rigid split impulse	2019-11-05 18:07:58 -08:00
Chuyuan Fu	09ca930ca8	make consistent for other models	2019-11-05 18:07:58 -08:00
Chuyuan Fu	05bc387081	update example to use absolute path	2019-11-05 18:07:58 -08:00
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
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
Xuchen Han	c6af3aa3f8	fix bug in deformable vs. deformable friction	2019-10-23 12:17:21 -07:00
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	30238b2fbc	remove std::copysign	2019-10-15 13:51:33 -07:00
Xuchen Han	a7222d8a9f	add option to set stress clamping limit	2019-10-15 13:51:33 -07:00
Xuchen Han	c610ba49df	fix bug in computing rhs in momentum solve	2019-10-15 13:47:55 -07:00
Xuchen Han	2d045de589	parameter change in ClothFriction Demo	2019-09-28 14:44:42 -07:00
Xuchen Han	ccaddfca21	documentation and optimization	2019-09-28 14:44:42 -07:00
Xuchen Han	977bdb4e0e	adjust parameters	2019-09-28 14:44:41 -07:00
Xuchen Han	cb46440e17	add normal cone optimization for self-collision	2019-09-28 14:44:41 -07:00
Xuchen Han	657a7468b3	documentation and optimization	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	be7383cc03	update examples to test different time stepping schemes (namely explicit, implicit and implicit with line search)/	2019-09-28 14:44:41 -07:00
Xuchen Han	ef5aa6e73b	add options to toggle between whether line search is used & add more documentation	2019-09-28 14:44:41 -07:00
Xuchen Han	0501fe1bbd	add cloth demo to show deformable friction	2019-09-28 14:44:41 -07:00
Xuchen Han	55ebafc755	add demo to test soft body friction	2019-09-28 14:44:41 -07:00
Xuchen Han	cca220eb27	add damping energy to mass spring	2019-09-28 14:44:41 -07:00
Xuchen Han	a92a8f1135	add demo for deformable contact	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	27bf4d3372	new vtk mesh	2019-09-28 14:43:40 -07:00
Xuchen Han	7d1b93cc17	contact solve for newton	2019-09-04 18:48:00 -07:00
Xuchen Han	c722630fc7	bug fix in neohookean force	2019-09-04 18:48:00 -07:00
Xuchen Han	7c39052163	clean up forces	2019-09-04 18:48:00 -07:00
Xuchen Han	0b391798b7	hook deformable world into the physics server	2019-09-04 18:48:00 -07:00
Xuchen Han	6beeac7065	refactor contact solve	2019-08-23 17:32:41 -07:00
Xuchen Han	3fbd7a7edd	delete forces in exitPhysics	2019-08-21 23:00:18 -07:00
Xuchen Han	4e1c1a30a7	remove world dependency from btDeformableBodySolver,btDeformableBackwardEulerObjective, and btCGProjection; reduce invasion into multibody world, all chnages are cosmetic now	2019-08-21 22:17:46 -07:00
Xuchen Han	9af25430ac	update examples to include NeoHookean Model and new damping model	2019-08-19 12:04:10 -07:00
Xuchen Han	6d4e93d3bf	mods for compatibility with older compiler	2019-08-16 14:03:14 -07:00
Xuchen Han	bf215a3ce1	rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld	2019-08-16 13:45:30 -07:00
Xuchen Han	c9ab033a8b	check in a good set of parameters for grasping deformable ball with nonlinear damping force (not as stable as linear damping)	2019-08-16 13:45:30 -07:00
Xuchen Han	b507fe77ca	check in a good set of parameters for grasping deformable ball	2019-08-16 13:45:29 -07:00
Xuchen Han	081497a812	reset dt to 1/240 for grasping demos	2019-08-16 13:45:29 -07:00
Xuchen Han	991be52681	add more volumetric meshes for grasping tests	2019-08-16 13:45:29 -07:00
Xuchen Han	f7cd1edf4a	code clean up	2019-08-16 13:45:29 -07:00
Xuchen Han	5b8df6a708	switch to Baraff style constraint	2019-08-16 13:45:08 -07:00
Xuchen Han	27492887bf	move files and update license	2019-08-16 13:45:08 -07:00
Xuchen Han	6d31c73216	style fix and remove unused variable	2019-08-16 13:44:59 -07:00
Xuchen Han	69a02302aa	fix gripper in pinch example	2019-08-10 12:12:59 -07:00
Xuchen Han	7adb6fdff3	2016 -> 2019	2019-08-08 17:43:49 -07:00
Xuchen Han	9a7e30d09f	move deformable examples to a single folder and rename them; change license to google 2016	2019-08-08 15:00:55 -07:00