88 Commits

Author	SHA1	Message	Date
erwin coumans	5cf8ee3360	Allow to compile pybullet using btDiscreteDynamicsWorld (no multibodies and no deformables), this allows to create Jacobian and Mass matrix (and A=J*M-1*J_transpose) with MLCP solvers ... Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)	2021-03-15 22:44:55 -07:00
Xuchen Han	c9a0ebb24e	reduce the picking force in self-collision demo	2020-06-26 14:19:50 -07:00
Xuchen Han	70a0ef65d8	fix bug in deformable replulsion force and adjust parameter in deformable self collision	2020-06-26 14:19:44 -07:00
Xuchen Han	bf8cf19665	support implicit integration in picking force	2020-06-24 17:48:43 -07:00
Xuchen Han	43d256633e	allow for larger range of stiffness values in implicit demos	2020-06-19 14:51:31 -07:00
Xuchen Han	3fd743a069	add a colliding demo to for easier implcit contact testing	2020-06-19 14:50:56 -07:00
Xuchen Han	92f2f56b3d	add mass damping into damping model	2020-06-18 16:43:53 -07:00
Xuchen Han	abaf278c2d	add extreme deformation demo	2020-06-17 18:49:09 -07:00
Xuchen Han	9cfe16abb4	add corotated linear elasticity	2020-06-16 15:57:58 -07:00
Xuchen Han	04efc9124d	tune exampleBrowser demo parameters	2020-05-20 17:56:41 -07:00
Xuchen Han	5f2ac5e922	parameter tuning	2020-05-11 15:54:15 -07:00
Xuchen Han	3054cc01a1	demo parameter tune	2020-05-11 12:05:35 -07:00
Xuchen Han	9a35ccfd5f	demo changes	2020-05-03 00:51:53 -07:00
Xuchen Han	301cad8a09	tune parameters in deformable demos	2020-04-27 17:30:46 -07:00
Xuchen Han	95287e458c	support split impulse for deformable vs. rigid contact	2020-04-22 15:18:29 -07:00
Xuchen Han	165427de01	refactor to support both CG+projection and KKT	2020-04-15 17:46:01 -07:00
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