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Progress

Progress. Done with integrating Bullet into Matlab simulator. Now we can: Use Bullet as physics engine (no constraint yet) Use Bullet as a collision detection library. Working on. Revolute joint in ST Integrating Bullet collision into ST

norris
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Progress

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  1. Progress • Done with integrating Bullet into Matlab simulator. Now we can: • Use Bullet as physics engine (no constraint yet) • Use Bullet as a collision detection library

  2. Working on • Revolute joint in ST • Integrating Bullet collision into ST • Adding Bullet constraint (Bullet have quite a number of constraints built-in)

  3. What’s next • Finish ST + Bullet collision and iterative solver using OOOP (Quadratic program solver) • Compare Bullet and this method • Initial run show that in Bullet’s method, penetration is unavoidable and it takes long to recover from penetration. (See next slide) • Run testBullet.m to see

  4. Initial result with Bullet

  5. Initial result with Bullet • This is a very simple scene: drop a sphere into a plane ground below. • From step 10-30: penetration! This is the main reason why this type of method cannot produce stable box stacking. With ST, there wont be any penetration • Next slide for linear velocity

  6. Linear velocity of sphere • Along y axe: vel(Y):[0.000000 -10.166667 0.000000] vel(Y):[0.000000 -10.333333 0.000000] vel(Y):[0.000000 -10.333333 0.000000] vel(Y):[0.000000 -10.500000 0.000000] vel(Y):[0.000000 -10.500000 0.000000] vel(Y):[0.000000 -10.666667 0.000000] vel(Y):[0.000000 -10.833333 0.000000] vel(Y):[0.000000 -10.833333 0.000000] vel(Y):[0.000000 -11.000000 0.000000] vel(Y):[0.000000 -11.000000 0.000000] vel(Y):[0.000000 0.700000 0.000000] Penetration vel(Y):[0.000000 0.560000 0.000000] vel(Y):[0.000000 0.560000 0.000000] vel(Y):[0.000000 0.448000 0.000000] vel(Y):[0.000000 0.448000 0.000000] vel(Y):[0.000000 0.358400 0.000000] vel(Y):[0.000000 0.286720 0.000000] vel(Y):[0.000000 0.286720 0.000000] vel(Y):[0.000000 0.229376 0.000000] vel(Y):[0.000000 0.229376 0.000000] vel(Y):[0.000000 0.183501 0.000000] vel(Y):[0.000000 0.146801 0.000000] vel(Y):[0.000000 0.146801 0.000000] vel(Y):[0.000000 0.117441 0.000000] vel(Y):[0.000000 0.117441 0.000000] • It’sclearthatittakesthemethodmanystepstorecover a penetration.

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