3564 Commits

Author	SHA1	Message	Date
jingyuc	eef3b73cd2	fixed a sign issue in the friction of the reduced deformable vs moving rigid body contact	2021-09-07 18:38:13 -04:00
jingyuc	3a70641c65	Merge branch 'bulletphysics:master' into master	2021-09-07 15:25:11 -04:00
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
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 ... 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
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
jingyuc	c2601663e4	debugging moving rigid vs reduced deformable contact	2021-09-01 16:36:52 -04:00
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 ... 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 ... 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 ... 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
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
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	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
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
jingyuc	4f66d8bb87	update reduced variables and full space position every time applied the force	2021-08-06 17:10:58 -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
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
jingyuc	c6c7533167	fixed constraints wip	2021-07-28 16:36:15 -04:00
jingyuc	549b57df77	clean up	2021-07-28 14:36:42 -04:00