Commit Graph

56 Commits (0081cff8bc235eeffa484e7d7e0a7235cd450825)

Author SHA1 Message Date
Martin Felis 0081cff8bc Added slides of Gregorius' talk "Robust Contact Creation for Physics Simulation" 2021-05-16 15:37:13 +02:00
Martin Felis 6193af5387 Merge branch 'master' of ssh://i13s.de/martin/rbdlsim 2021-02-07 14:45:34 +01:00
Martin Felis 0dd26d267d Added README.md 2020-12-20 15:57:09 +01:00
Martin Felis d2eca6f19b Added initial works on sconvcol - Simple Convex Collision manifold calculator 2020-12-12 23:22:57 +01:00
Martin Felis 5f4675d9ef Fixed build for runsim 2020-11-25 17:05:29 +01:00
Martin Felis 10b59578e1 Properly separate sliders for each body 2020-11-25 17:05:13 +01:00
Martin Felis d01417e8c9 Implemented tangential friction. Yay! 2020-11-24 22:34:28 +01:00
Martin Felis ca4f4048df Adjusted scene (more objects, mixed boxes and spheres) 2020-11-24 22:30:59 +01:00
Martin Felis 28d7e5efaa Adjusted view for better visibility 2020-11-24 22:30:29 +01:00
Martin Felis b00e78cd9c Storing MInv * jacT instead of each separately, fixed failing due to size of spheres being now the diameter instead of radius. 2020-11-24 21:45:38 +01:00
Martin Felis 3fd715611d Added applying slight separation impulse in case of penetration, also started working on friction along tangents. 2020-11-21 21:18:57 +01:00
Martin Felis ae9ec36325 Fixed creation of state history class. 2020-11-21 21:17:52 +01:00
Martin Felis cb387beb33 Using manifold points instead of posA, posB for adding constraints. 2020-11-21 20:09:26 +01:00
Martin Felis 4b19fd9c0b Fixed simulation crash by increasing the manifold array as I'm getting more manifolds than expected. 2020-11-20 23:16:37 +01:00
Martin Felis 8dd349752d Apply random rotation on test bodies when resetting scene. 2020-11-20 22:54:59 +01:00
Martin Felis 17a8a0347f SimpleMath: fixed matrix.llt().inverse() (was using unused variable). 2020-11-20 22:54:07 +01:00
Martin Felis 17336be8d6 Using boxes instead of spheres for simulation. 2020-11-20 22:53:30 +01:00
Martin Felis e47be90fac Sending full transform info (rot, scale, translation) to srender. 2020-11-20 22:51:24 +01:00
Martin Felis 0624a7e1ac Properly allowing for rotated box vs plane checking. 2020-11-20 21:47:17 +01:00
Martin Felis cd57d8aa7e Inital works of Box vs Plan collision. 2020-11-20 14:17:15 +01:00
Martin Felis 159400b722 Removed debug output in tests. 2020-11-20 10:48:56 +01:00
Martin Felis 67cc892f14 Collision resolution works. Finally! 2020-11-15 22:23:32 +01:00
Martin Felis 3377de6b81 Explicitly formulating bias term (missed some changes) 2020-11-15 21:47:25 +01:00
Martin Felis 4a8d691334 Explicitly formulating bias term. 2020-11-15 21:46:43 +01:00
Martin Felis 4389dd19fc Working on unilateral contact constraints. 2020-11-13 21:54:08 +01:00
Martin Felis ff4490887f Initial drafts for rendering points. 2020-11-13 21:53:28 +01:00
Martin Felis 48b72c7e15 Implemented state history buffer and scrubbing. 2020-11-13 13:26:52 +01:00
Martin Felis 7efa3e6dda Trying to get collisions in simulation right. 2020-11-13 01:30:46 +01:00
Martin Felis a9d1aebf44 Properly compute impulse for simple cases (sphere on plane, sphere vs sphere). 2020-11-13 01:23:13 +01:00
Martin Felis 5037eda185 Checking constraint jacobian and normal directions. 2020-11-08 20:51:45 +01:00
Martin Felis 3fac49ed9e Added restitution to CreateSphereBody, debugging impulse computation. 2020-11-08 12:50:12 +01:00
Martin Felis 60ec46d090 Fixed build of tests 2020-11-08 12:49:43 +01:00
Martin Felis 8ef9a923d8 Sort of working bouncing simulation. 2020-11-05 23:12:05 +01:00
Martin Felis d1fa076581 Basic Simulator with editing of scene. 2020-11-02 21:07:26 +01:00
Martin Felis a4c25644ca Using proper y rotation when building uvsphere triangles 2020-11-01 21:37:23 +01:00
Martin Felis cd1130afd3 Fixed uv sphere generation. 2020-10-31 22:40:51 +01:00
Martin Felis 1ef48039b5 Added super simple lighting to shaders. 2020-10-31 22:37:26 +01:00
Martin Felis 6dd7d27777 Sphere visible but still buggy... 2020-10-29 18:03:50 +01:00
Martin Felis 0622c53d29 Initial code for UV Spheres 2020-10-26 22:27:05 +01:00
Martin Felis d7a5507774 Added rendering of a cube, moving the camera around. 2020-10-24 12:29:05 +02:00
Martin Felis 0c77b3a230 Transformed srender to a single header library, added srcmdbuf_add(cmd); 2020-10-24 11:05:31 +02:00
Martin Felis 40aec4a122 Added grid debug rendering primitive. 2020-10-23 15:23:03 +02:00
Martin Felis ce88204c02 Rendering of a coordinate frame works 2020-10-19 22:16:42 +02:00
Martin Felis b4729fada4 Started working on default rendering shader. 2020-10-18 22:03:42 +02:00
Martin Felis e8553fff6c Initial works on render commands 2020-10-17 23:20:38 +02:00
Martin Felis 99508054bf First steps for rendering 2020-10-17 22:09:41 +02:00
Martin Felis bcb05e5eea Include glad/gl.h before everything else when running clang-format 2020-10-16 15:03:25 +02:00
Martin Felis 8c618f89f0 Boilerplate code for GLFW based OpenGL window 2020-10-16 11:09:35 +02:00
Martin Felis 67955245fa CMake minimum requirement 3.15 -> 3.13 2020-10-16 11:08:26 +02:00
Martin Felis 31cd1c3f0b Formatted rbdlsim.cc 2020-10-16 11:06:24 +02:00