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New constraint solver and softbody dynamics clean up #184

Merged
merged 71 commits into from
Apr 28, 2014
Merged

New constraint solver and softbody dynamics clean up #184

merged 71 commits into from
Apr 28, 2014

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jslee02
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@jslee02 jslee02 commented Apr 24, 2014

  • New constraint solver
    • Improve method to construct LCP problem
      • It does not require explicit skeleton's mass matrix and inverse mass matrix
    • Add constrained group concept (similar to ODE's Island concept)
  • Softbody dynamics clean up
    • Merge SoftWorld into World
    • Merge SoftSkeleton into Skeleton
    • Merge SoftFCLMeshCollisionDetector into FCLMeshCollisionDetector
    • Merge SoftFileParser into SkelFileParser

Note: There is more work to be done but I'm splitting it here. The API is not stable yet.

jslee02 added 30 commits March 28, 2014 09:03
@jslee02
Rename constraint files (add prefix Old)
69f9bf7
@jslee02
Rename constraint classes by adding prefix 'Old'
6793fc4
@jslee02
Use quotes for header inclusions instead of brackets
82f59eb
@jslee02
Restore diabled tests in testDynamics.cpp
decb473
@jslee02
Implement impulse-based forward dynamics algorithm
203e213
@jslee02
Restore diabled tests in testDynamics.cpp
6ef27e2
@jslee02
Add constraint impulse to:
941bfc3 
(a) BodyNode: spatial constraint impulse
(b) GenCoord: generalized constraint impulse

Note: These constraint impulses are managed by constraint solver, and impulse based dynamics algorithm computes velocity changes due to these constraint impulses
@jslee02
Testing ContactConstraint for frictionless contacts
1c66426
@jslee02
Implementing ContactConstraint for frictional contacts
a52dd19
@jslee02
Implementing ContactConstraint for ariticulated rigid bodies
a15a789
@jslee02
Debugging contact constraint for articulated body systems
38b51ac
@jslee02
Fix impulse test for contact constraints
da1333d
@jslee02
Remove old constraint solver
e1e30af
@jslee02
Merge branch 'origin/master'
265a233 
Conflicts:
	dart/collision/CollisionDetector.cpp
	dart/utils/SoftParser.cpp
@jslee02
Fix bullet include
8a82051
@jslee02
Use fcl_mesh collision detection as default
dd014e0
@jslee02
Add restitution and error reduction for contact
9082950
@jslee02
Add timestep to lcp structure
9fa52b2
@jslee02
Add skeleton union finding algorithm
4f28528
@jslee02
Working on constraint group
1271d41
@jslee02
Working on constraint group
88a6dfc
@jslee02
Merge branch 'origin/master'
8f3d63f
@jslee02
Add constraint grouping routine
fb13cfd
@jslee02
Working on joint limit constraint
9ad05d8
@jslee02
Working on joint limit constraint
c5fcdfa
@jslee02
Add joint limit constraint
003632e
@jslee02
Add weld joint constraint
b226654
@jslee02
Remove Constraint::preprocess()
eda11ad
@jslee02
Working on ball joint constraint
1f0aeaa
@jslee02
Fix contact constraint
1e60855
jslee02 added 25 commits April 15, 2014 16:13
@jslee02
Add hanging app
2a56c6c
@jslee02
Fix weld joint bugs
821a2e7
@jslee02
Splitting ConstrainedGroup and LCPSolver
b9d684d
@jslee02
Add Dantzig LCP solver
bb00913
@jslee02
Clean up constraint solver and constraints
7c79c10
@jslee02
Fix cmake setting for bullet collision
103c06b
@jslee02
Merge branch 'origin/master'
1ff6cf7 
Conflicts:
	apps/harnessTest/MyWindow.cpp
	dart/simulation/World.cpp
@jslee02
Merge SoftMeshCollisionNode, SoftMeshCollisionDetector, and SoftWorld
3fc5727 
The functionality is moved to MeshCollisionNode, MeshCollisionDetector, and World
@jslee02
Working on softbody contact constraint
92c7364
@jslee02
Working on SoftContactConstraint
7d12797
@jslee02
Remove SoftEdge class
1b5323d
@jslee02
Merge SoftSkeleton into Skeleton
cb74993
@jslee02
Remove redundant header include for Skeleton.h
dbccdba
@jslee02
Working on SoftContactConstraint
a7fdaee
@jslee02
Add debug code to DantigLCPSolver
76d7d86
@jslee02
Working on SoftContactConstraint
d35f03f
@jslee02
Working on SoftContactConstraint
2b36fb7
@jslee02
Fix soft contact constraint
6307a4e
@jslee02
Restore atlasRobot app
cf823d1
@jslee02
Remove SoftParser
bc2cde6
@jslee02
Working on SoftContactConstraint
8ce380a
@jslee02
Add PGS solver
d4e447c
@jslee02
Use DanzigLCPSolver per default
8d4e154
@jslee02
Fix contact constraint for weld joints
f19f72d
@jslee02
Rename SkelParser::readSkelFile() to SkelParser::readWorld()
29c958e
@karenliu
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go ahead merge it.

jslee02 added 2 commits April 28, 2014 14:06
@jslee02
Merge branch 'master'
084cfb6 
Conflicts:
	apps/harnessTest/MyWindow.cpp
	dart/dynamics/BoxShape.h
	dart/dynamics/EllipsoidShape.h
	dart/simulation/World.cpp
	dart/utils/FileInfoWorld.cpp
@jslee02
Merge branch 'master'
a92319a 
Conflicts:
	apps/harnessTest/MyWindow.cpp
	dart/dynamics/BoxShape.h
	dart/dynamics/EllipsoidShape.h
	dart/simulation/World.cpp
	dart/utils/FileInfoWorld.cpp
@jslee02 jslee02 merged commit a92319a into master Apr 28, 2014
@jslee02 jslee02 deleted the constraint_solver branch May 1, 2014 17:26
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@jslee02 @karenliu