72 Commits

Author	SHA1	Message	Date
Xuchen Han	b3e23cfaa4	parameter tuning for new solver	2020-04-15 14:49:07 -07:00
Xuchen Han	80aa523825	Tune deformable collision parameters for more stable deformable vs. deformable contact	2020-04-01 17:46:37 -07:00
Xuchen Han	19ed1c952a	separate face contact between deformable and rigid and multibodies	2020-03-18 17:58:46 -07:00
Xuchen Han	7dfef92267	Add support for picking deformable with mouse	2020-03-09 11:19:08 -07:00
Xuchen Han	41ca8b9e59	More parameter tuning for cloth-like behavior	2020-03-06 16:29:32 -08:00
Xuchen Han	ec0e9892b5	add slider demo	2020-03-06 16:04:34 -08:00
Xuchen Han	1cb9a0630f	bug fix in barycentric weight calculation	2020-03-02 22:48:25 -08:00
Erwin Coumans	36738b7676	release memory of m_deformableBodySolver in ClothFriction demo.	2020-02-22 10:40:31 -08:00
Xuchen Han	b9c0456d85	fix split impulse demo	2020-02-07 13:22:41 -08:00
Xuchen Han	3bc701c487	Improve intra-deformable collision and deformable self collision	2020-02-06 17:01:20 -08:00
Xuchen Han	ee2a811c09	parameter tweaks after testing on robot	2020-01-04 19:29:52 -08:00
Xuchen Han	a274bcbfa3	add position error into deformable vs. rigid solve	2019-12-31 19:18:37 -08:00
Xuchen Han	4ab550d358	update deformable demos	2019-12-31 14:05:45 -08:00
Xuchen Han	442047a862	more bug fixes	2019-12-27 13:16:31 -08:00
Xuchen Han	f5400b40d2	Add faces to volumetric objects in deformable demos	2019-11-18 23:37:23 -08:00
Erwin Coumans	8f16332708	expose the double sided flag	2019-11-18 23:37:22 -08:00
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