jingyuc
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ce765a8a88
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friction is now applied in a way similar to what the rigid body solver does
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2021-09-08 19:00:55 -04:00 |
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jingyuc
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eef3b73cd2
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fixed a sign issue in the friction of the reduced deformable vs moving rigid body contact
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2021-09-07 18:38:13 -04:00 |
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jingyuc
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3a70641c65
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Merge branch 'bulletphysics:master' into master
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2021-09-07 15:25:11 -04:00 |
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jingyuc
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3a84b05058
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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)
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2021-09-06 17:56:32 -04:00 |
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jingyuc
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df07b42318
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contact with moving rigid body is working. There is a sign error when calculating the deltaVelocity of the solverBody
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2021-09-03 17:32:26 -04:00 |
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jingyuc
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f2e114fc81
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fixed the wrong dimension used to calculate the inertia tensor in btReducedSoftBodyHelpers
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2021-09-03 14:47:31 -04:00 |
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jingyuc
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e70fc6453b
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add support for initial rotation
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2021-09-02 21:32:16 -04:00 |
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erwincoumans
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b638300fe4
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Merge pull request #3951 from erwincoumans/master
implement resetMeshData for deformable bodies, fix tiny_renderer standalone example
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2021-09-02 18:03:23 -07:00 |
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Erwin Coumans
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b6df08b553
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implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms.
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2021-09-02 17:27:05 -07:00 |
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jingyuc
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93e00054e3
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set up reduced grasping example
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2021-09-02 13:35:14 -04:00 |
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jingyuc
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104410c63d
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fixed an incorrect impulse factor in btSoftBodyInternals. The total impulse factor is now calculated in the constraint solver class.
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2021-09-02 00:20:19 -04:00 |
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erwin coumans
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3577ef8108
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Merge branch 'master' of github.com:erwincoumans/bullet3 into master
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2021-09-01 15:00:10 -07:00 |
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erwin coumans
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7de63bdbc5
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fix tiny_renderer standalone example
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2021-09-01 15:00:01 -07:00 |
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erwincoumans
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3fee64fb95
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Merge pull request #3949 from fuchuyuan/fixasan
Fixasan
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2021-09-01 13:58:57 -07:00 |
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jingyuc
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c2601663e4
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debugging moving rigid vs reduced deformable contact
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2021-09-01 16:36:52 -04:00 |
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Chuyuan Fu
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9b3c8c8dbb
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fix format
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2021-09-01 13:18:58 -07:00 |
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Chuyuan Fu
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b795243cc5
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fix asan
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2021-09-01 13:18:58 -07:00 |
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jingyuc
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634c8b7b38
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Merge branch 'bulletphysics:master' into master
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2021-08-31 20:16:15 -04:00 |
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jingyuc
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42fac2e364
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fixed a minor issue: disable deactivation for the reduced collision example
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2021-08-31 01:33:38 -04:00 |
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erwincoumans
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31b8841efc
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Merge pull request #3948 from erwincoumans/master
add low-resolution Laikago (for faster rendering in CPU renderer) and cleanup sdf files
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2021-08-30 13:01:15 -07:00 |
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Erwin Coumans
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68424feb2d
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don't use empty frame for pose in sdf files
use hint for clang that if (0) is intentional
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2021-08-30 19:40:20 +00:00 |
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jingyuc
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b1803afbb9
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collision with moving rigid body seems to be working. checking why there is side motion
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2021-08-30 13:19:33 -04:00 |
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erwincoumans
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5ec0820c0e
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Merge pull request #3920 from araffin/feat/sb3
Migrate to Stable-Baselines3
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2021-08-29 15:01:27 -07:00 |
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jingyuc
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3e76b11d46
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add check for momentum conservation
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2021-08-26 13:41:26 -04:00 |
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jingyuc
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f26e3d133d
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set up the reduced vs rigid collision example
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2021-08-26 12:47:09 -04:00 |
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jingyuc
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6a87310d3c
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friction is working now
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2021-08-25 16:38:57 -04:00 |
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jingyuc
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52abe35e41
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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
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2021-08-25 00:38:29 -04:00 |
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jingyuc
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166dc2865d
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frictionless contact also works with reduced modes enabled
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2021-08-24 16:30:33 -04:00 |
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jingyuc
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c735830f0a
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more stable rigid contact
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2021-08-24 15:08:57 -04:00 |
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jingyuc
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840db372b9
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delta impulse version is working
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2021-08-24 00:40:27 -04:00 |
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erwincoumans
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41158a4be8
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Merge pull request #3937 from fuchuyuan/deformableContact
implement request deformable contact info
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2021-08-23 12:25:55 -07:00 |
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jingyuc
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d9152b9cf5
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WIP warm starting
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2021-08-23 01:17:58 -04:00 |
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jingyuc
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368385d5ad
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need to project the impulse on the normal to prevent sliding
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2021-08-21 15:54:34 -04:00 |
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Chuyuan Fu
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107295db5f
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fix typo
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2021-08-19 09:32:49 -07:00 |
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Chuyuan Fu
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e16c9bb1cc
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implement request deformable contact info
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2021-08-18 18:48:35 -07:00 |
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jingyuc
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70ec2f9d46
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use the correct relative position to apply the impulse
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2021-08-18 16:24:46 -04:00 |
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jingyuc
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0444fea9eb
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collision impulse starts to look reasonable, but the motion is still strange.
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2021-08-18 14:31:59 -04:00 |
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erwin coumans
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7ac95be8cd
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add training and run/eval scripts to train envs_v2 Laikago pmtg
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2021-08-17 08:56:30 -07:00 |
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jingyuc
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eacdbe67a0
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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
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2021-08-16 14:36:35 -04:00 |
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jingyuc
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9a17391a9a
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modified the code. explicit time stepping should only be implicit in velocity
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2021-08-13 16:34:34 -04:00 |
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jyc-n
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d6d8c3ceac
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reworking static constraint WIP
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2021-08-12 22:36:39 -04:00 |
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jingyuc
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35f7a1a569
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add new reduced deformable contact constraint class. able to call the reduced soft body's apply impulse function
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2021-08-12 12:31:44 -04:00 |
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jingyuc
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e4e8f1ad93
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add tree updates in predict motion.
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2021-08-11 15:58:40 -04:00 |
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jingyuc
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6355b06a8b
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use deformable contact detection for the reduced deformable model
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2021-08-10 16:31:53 -04:00 |
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jyc-n
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3425c01acc
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created new free fall example. WIP
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2021-08-09 16:26:17 -04:00 |
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jyc-n
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042a1f75c9
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clean up
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2021-08-09 14:54:58 -04:00 |
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jingyuc
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a56ce358f3
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reduced dofs and interpolated transform needs to be updated from the time_n states in the iteration
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2021-08-09 12:43:59 -04:00 |
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jingyuc
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0acf18f246
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need to update the rigid frame every time when the impulse is applied. reduced external force needs to be zeroed in every iteration.
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2021-08-09 11:23:52 -04:00 |
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jingyuc
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4f66d8bb87
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update reduced variables and full space position every time applied the force
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2021-08-06 17:10:58 -04:00 |
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jyc-n
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252aa91e9a
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reduced force WIP
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2021-08-06 02:12:39 -04:00 |
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