Rigid and Affine Body Dynamics #184
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- 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 +/- ##
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- Coverage 96.25% 94.37% -1.88%
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Files 105 118 +13
Lines 8064 8717 +653
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+ Hits 7762 8227 +465
- Misses 302 490 +188
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…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.
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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