New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

refactor impulses #72

Open

michguo wants to merge 5 commits into master from mguo/impulses

Collaborator

michguo commented Jan 6, 2022 •

edited

Originally, the LCP solution was list of pointers. Each pointer pointed to a scalar py. We'd increment the pointer to access px and pz in the presence of friction.
Now, the LCP solution is a matrix with shape (numContacts, 3). The last two columns of each row are only used if friction is on.

TODO: Some tests are failing. To pass the tests, we need to add support for non-contact constraints with dynamic size impulses vector.

michguo added 5 commits

January 5, 2022 16:55


          refactor impulses

30f096a


          add eigen import

1aa1f01


          one more eigen import

f415caf


          matrix instead of vector


          fix variable type for unittest

c12130d

michguo mentioned this pull request

return LcpResult in solveLcp #88

Open

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment