Commit Graph

69 Commits (9252236c9c302cc203bfdefe8a4da29609109c21)

Author SHA1 Message Date
Martin Felis 9252236c9c Added build files for tracy, added ImGuizmo (not yet integrated) 2021-08-27 12:34:18 +02:00
Martin Felis 87f07397d2 Working on edge-edge contact manifold generation. Possibly found issue for face-face contact generation. 2021-08-25 22:29:18 +02:00
Martin Felis 0e378b6a60 Added face-face contact manifold computation to sconvcol. 2021-08-25 21:20:03 +02:00
Martin Felis f06da4445f Reverted to using boxes and spheres for the scene 2021-08-06 12:16:34 +02:00
Martin Felis ab469b40c8 Added Tracy profiler 2021-08-06 12:11:47 +02:00
Martin Felis 40734883d8 Adjusted simulation scene generation (boxes and spheres) 2021-07-09 20:28:45 +02:00
Martin Felis 4834b483ef Added sch_hull_sat to check whether we can find a separating axes between two hulls. 2021-05-30 00:19:57 +02:00
Martin Felis e93a659daf Added unit cube generation and get_support queries. 2021-05-28 21:43:37 +02:00
Martin Felis 0c53f3fd8b Minor cleanup. 2021-05-28 17:01:36 +02:00
Martin Felis 8aa06fb3d6 Hull builder can now build hulls including various validations. 2021-05-28 16:45:41 +02:00
Martin Felis d8a67db2a9 Check vor concave vertices when building convex hull objects 2021-05-27 14:18:21 +02:00
Martin Felis 82de09ad8b Updated catch2 2021-05-27 14:17:30 +02:00
Martin Felis 9356ec14f8 Initial work on a convex hull builder object. 2021-05-26 11:33:54 +02:00
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