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
Fabrice Fontaine
dd37b97e79
Extras/VHACD/inc/vhacdMutex.h: fix musl build
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Fix the following build failure on musl (which does not provide
PTHREAD_MUTEX_RECURSIVE_NP):
In file included from /tmp/instance-5/output-1/build/bullet-3.09/src/LinearMath/btScalar.h:289,
from /tmp/instance-5/output-1/build/bullet-3.09/src/LinearMath/btVector3.h:19,
from /tmp/instance-5/output-1/build/bullet-3.09/src/LinearMath/btConvexHullComputer.h:18,
from /tmp/instance-5/output-1/build/bullet-3.09/Extras/VHACD/src/VHACD.cpp:28:
/tmp/instance-5/output-1/build/bullet-3.09/Extras/BulletRobotics/../../Extras/VHACD/inc/vhacdMutex.h: In constructor 'VHACD::Mutex::Mutex()':
/tmp/instance-5/output-1/build/bullet-3.09/Extras/BulletRobotics/../../Extras/VHACD/inc/vhacdMutex.h:97:54: error: 'PTHREAD_MUTEX_RECURSIVE_NP' was not declared in this scope; did you mean 'PTHREAD_MUTEX_RECURSIVE'?
97 | VHACD_VERIFY(pthread_mutexattr_settype(&mutexAttr, PTHREAD_MUTEX_RECURSIVE_NP) == 0);
| ^~~~~~~~~~~~~~~~~~~~~~~~~~
Fixes:
- http://autobuild.buildroot.org/results/79cd2024b3dfc8d3e896cdacf67fb891df81ca6e
Signed-off-by: Fabrice Fontaine <fontaine.fabrice@gmail.com>
2021-08-07 17:17:41 +02:00
jingyuc
4f66d8bb87
update reduced variables and full space position every time applied the force
2021-08-06 17:10:58 -04:00
jyc-n
252aa91e9a
reduced force WIP
2021-08-06 02:12:39 -04:00
jingyuc
32398d4d7f
multiple fixed nodes seem okay
2021-08-05 00:00:12 -04:00
jingyuc
fdfb08b72f
single fixed constraint for the rigid frame is working
2021-08-04 22:44:53 -04:00
erwin coumans
e399944982
add simplified Laikago model for faster CPU rendering (getCameraImage in direct mode using TinyRenderer)
2021-08-03 13:26:39 -07:00
jingyuc
35ec8b39a7
re-work the external force application. clean up position and velocity update
2021-08-02 11:31:09 -04:00
jingyuc
a37d23fa24
re-work the simulation time loop in order to support fixed constraints. still wip
2021-07-30 02:08:27 -04:00
Ayzaan Wahid
83fbd60d5b
Create URDF for white xarm
2021-07-29 17:08:50 -04:00
jingyuc
5d17353269
add rigidTransformWorld to make the rendering works after applying initial translation. Center of mass looks right. Tested with rotating free fall
2021-07-29 11:45:44 -04:00
Antonin Raffin
13f3778c22
Fix SB3 comment
2021-07-29 15:24:46 +02:00
Antonin Raffin
2f8b44c702
Migrate to Stable-Baselines3
2021-07-29 15:21:49 +02:00
