Rigid and Affine Body Dynamics #184
Draft
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
- Added InertialTerm class for computing energy, gradient, and Hessian of rigid bodies. - Implemented mass properties computation for 2D and 3D meshes, including point clouds. - Created pose representation with rotation vector and matrix conversions. - Developed RigidBodies class to manage multiple rigid bodies from mesh data. - Implemented ImplicitEuler time integrator for updating positions and velocities. - Added unit tests for mass properties and pose transformations using Catch2 framework.
- Updated finite-diff package from version 1.0.1 to 1.0.3 in CMake configuration. - Remove template from Pose. - Modified RigidBody and related classes to use the updated Pose structure. - Added unit tests for RigidBody construction and transformations.
- Update CPM to 0.42.0 - Add TinyGLTF dependency - Rename save_obj to write_candidates_obj - Add write_gltf
…_throw_error for consistency
Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## main #184 +/- ##
==========================================
- Coverage 96.96% 95.23% -1.74%
==========================================
Files 161 179 +18
Lines 24747 25710 +963
Branches 893 981 +88
==========================================
+ Hits 23997 24484 +487
- Misses 750 1226 +476
Flags with carried forward coverage won't be shown. Click here to find out more. ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
|
…in normal collisions test (#185)
- Introduce new overloads for build methods across various classes, allowing for the use of precomputed AABBs. - Update related documentation and ensure consistent handling of vertex boxes and edges. - Improve voxel size suggestion logic based on bounding box dimensions.
… function signatures
…ment collision detection methods
Move sinc implementation from ipc/utils to ipc/math and update CMake. Replace includes of ipc/utils/interval.hpp with ipc/math/interval.hpp. Expose NonlinearCCD constructor and properties in Python bindings and adjust tests accordingly. Rename candidates::save_obj to write_obj and add missing ipc/geometry/normal.hpp includes where required.
- Reorder conservative_piecewise_linear_ccd parameters so min_distance comes before tmax, rename the intermediate min_distance to min_distance_linear to avoid confusion/shadowing, and update all call-sites accordingly. - Also remove an overly restrictive assertion in HashGrid::resize that limited the grid size.
- Rename BodyForces parameters (force/torque -> q_hat/Q_hat). - Add const qualifiers to InertialTerm methods. - Take RigidBodies shared_ptr and the Simulator callback by reference. - Add linter NOLINT annotations, remove an unused include, replace/tidy sinc taylor bound constants, and fix RigidBodies initializer and RigidBody enum underlying type.
- q_hat and Q_hat should be force and torque in BodyForces
Replace many Eigen vector/matrix parameters with Eigen::ConstRef to avoid unnecessary copies and clarify ownership. Also add const correctness to various methods (e.g. BodyForces operator(), gradient), rename forces/torques to m_forces/m_torques, add test_body_forces.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
This pull request introduces support for rigid body dynamics simulation.
Rigid body dynamics support in Python bindings
dynamicsmodule with subfolderrigid, includingSimulator,RigidBodies,Pose, andPosesclasses, and exposed them via pybind11 in the Python bindingsImprovements to CMake dependency management
OPTIONSargument for configuration, improving clarity and maintainability.Python usability improvements and new examples
ipctk,meshio, andpolyscope(python/examples/rigid.py).Minor Python binding improvements
save_objmethod towrite_objinCandidatesPython bindings for clarity.CollisionMeshPython class usestd::shared_ptrfor better memory management.Type of change