Irlan
bd4ca5d143
fix assert
2018-04-20 22:31:03 -03:00
Irlan
57a0809bcb
optimization
2018-04-20 22:12:41 -03:00
Irlan
1f3fe9f873
optimize conversion
2018-04-20 19:24:01 -03:00
Irlan
63f034535e
erase dep, constexpr, cleanup
2018-04-20 19:22:20 -03:00
Irlan
231b9c29d0
contact cluster return number of iterations
2018-04-20 03:08:21 -03:00
Irlan
ffed35d10a
cleanup hull validation
2018-04-20 01:23:08 -03:00
Irlan
0e0438e0a9
assert
2018-04-19 20:23:43 -03:00
Irlan
a4f861a93a
make centroid computation more robust too
2018-04-19 19:54:32 -03:00
Irlan
7d71713bea
store hull features on the stack
2018-04-19 19:42:37 -03:00
Irlan
18f4e59518
make hull inertia more robust
...
Use a point inside the hull as the reference point.
Of course, had to shift the inertia to the local center of mass then to the world body origin.
2018-04-19 15:06:31 -03:00
Irlan
6d76caad1d
move capsule inertia to the body frame
...
With this bugfix capsule motions are realistic.
2018-04-19 03:21:50 -03:00
Irlan
efae0fc202
use unsigned integers instead of integers in some collision code
2018-04-18 17:20:39 -03:00
Irlan
235b59a560
typo
2018-04-18 14:41:48 -03:00
Irlan
d497fa4a23
typo
2018-04-18 14:30:19 -03:00
Irlan
849133a75e
typo
2018-04-17 14:07:20 -03:00
Irlan
46a0f2497e
optimization
2018-04-17 03:21:02 -03:00
Irlan
75fe47b453
comment, bugfix, and simplification
2018-04-17 03:11:35 -03:00
Irlan
9b01af3d70
typo
2018-04-17 02:38:01 -03:00
Irlan
1bb6eb9649
typos
2018-04-17 02:33:48 -03:00
Irlan
01eea90b3c
typos
2018-04-17 02:29:37 -03:00
Irlan
7d1c0ab017
typo
2018-04-17 02:19:04 -03:00
Irlan
eb428d169f
typo
2018-04-17 02:03:28 -03:00
Irlan
bfb2665930
rewrite hull inertia computation
2018-04-17 02:00:21 -03:00
Irlan
28367b8108
add b3QHull object
...
b3QHull allows users to create hull shapes from a list of points quickly. Example usage:
vec3* points = 0;
uint count = create_points(points);
b3QHull hull;
hull.Set(points, count);
2018-04-17 01:58:36 -03:00
Irlan
5e0a010881
cleanup quickhull
2018-04-17 01:53:36 -03:00
Irlan
fd04c35886
scale integrals before adding
2018-04-13 23:39:10 -03:00
Irlan
151ce1f385
rewrite hull inertia
...
Rewrite the algorithm that calculates the inertia tensor for a hull, inner loops
Also add a reference explaining the derivation
2018-04-13 22:06:04 -03:00
Irlan
bd09b243c2
use mvc for the testbed, update almost all tests, bugfixes, improvements, cleanup
...
Since I started altering the testbed for better maintainability, I prefered to drop this (tested) large change with a single commit. Some changes below:
Put some globals in their correct place,
Now Testbed uses the MVC pattern (Model-View Controller). This way it becomes better to maintain than using no pattern in my opinion.
Fixed some bugs in the debug draw interface.
Of course, updated almost all tests because of the differences.
Update script.
2018-04-10 00:57:14 -03:00
Irlan
49f7b2f728
add tension mapping test
2018-04-08 21:38:09 -03:00
Irlan
5342361a5d
use gravity
2018-04-08 00:13:29 -03:00
Irlan
6dd32061d7
rename contact areas to contact polygons
2018-04-07 01:34:11 -03:00
Irlan
54202454ea
rename contact areas to contact polygons
2018-04-07 01:28:48 -03:00
Irlan
8e615d3ca4
typo
2018-04-06 21:58:00 -03:00
Irlan
d657d649e3
rearrange some code
2018-04-05 23:36:21 -03:00
Irlan
ba3fb6deb6
bugfix in hull inertia
2018-04-05 19:23:47 -03:00
Irlan
87b4efc6b5
ensure valid inertia tensors
2018-04-05 18:35:21 -03:00
Irlan
fecd622b92
rearrange input and output arguments
2018-04-03 23:01:26 -03:00
Irlan
676fe352a6
use operators, increase CG tolerance
2018-04-02 20:41:27 -03:00
Irlan
256ea14327
bugfix
2018-04-02 20:38:35 -03:00
Irlan
246072f2d3
optimization
2018-04-02 16:56:55 -03:00
Irlan
c1a5d1b93f
fix #34
2018-04-02 13:06:32 -03:00
Irlan
40093fcf2f
improve CG performance using CSR matrix format
2018-04-02 12:47:56 -03:00
Irlan
615d243b14
separate square from rectangular matrices
2018-04-02 12:45:54 -03:00
Irlan
cc425786bc
comment
2018-03-28 01:14:45 -03:00
Irlan
e22ed9852a
bugfixes and improvements
...
Bugfixes:
Simplify and correct one derivation of a second derivative of energy function.
Clear dynamic variables for static shapes
Invalidate contact for a particle when its type switches from dynamic to static
Improvements:
Allow user to apply force to a particle
Allow user to displace a particle
Compute kinetic energy
Store the mass of each particle, not only its inverse. It can improve performance because the solver needs the masses most of the time for computations
Add some code to find shared and non-shared edges. These algorithms don't work for non-manifold meshes
Remove some unecessary temporaries decreasing code readability
2018-03-28 01:08:19 -03:00
Irlan
4d5c0644b3
typo
2018-03-26 17:00:11 -03:00
Irlan
42c8a998fb
store number of iterations
2018-03-26 16:59:04 -03:00
Irlan
a21d46ac64
add MCG without Jacobi preconditioning, delegate cloth solver to another class, ignore positive separation, improve contact handling, support different shapes
...
Specially, see b3SpringSolver.cpp for details.
2018-03-26 16:03:43 -03:00
Irlan
3e55b28956
add collision detection routines for shape against sphere
2018-03-26 15:56:01 -03:00
Irlan
be812ed897
add collision (no friction)
2018-03-24 02:21:31 -03:00
