Added TimeStepping (WIP)

[panchagil]

Updated clang-format so long chains of parameters are shown one on each line (don't hate me)

IO

• Added rigid-body fixtures (NEW FORMAT!)
  • Added rigid-body reader
• Added json/eigen helper to read/write matrices

OPT

• Added is_barrier method (and get/set epsilon) to CollisionConstraint so we don't need to pass the BarrierConstraint to the solver
  • Updated barrier constraint to use them
• Added accessors on OptimizationProblem for barrier case
  • updated ad-hoc problem too since it was used on unit-tests

PHYSICS

• updated RigidBody class to

  • include theta: position is now length 3 (x, y, theta)
  • compute mass and moment of intertia (needed for forces)
  • added position of previous step
  • added differentiable world vertices, and flag to obtain the vertices of the current or previous step.
  • TODO: remove world_displacements, we should use world_vertices instead!

• Added RigidBodyAssembler (to replace RigidBodyAssembler once finished)

  • init method only computes inmmutable information
  • other methods compute assembly on call

SIMULATION

• Added new main file for simulation
• Added UISimSate and UIMenu for the simulation UI
• TODO: merge with collision-debugging UI or add export of single problematic step

[panchagil]

I'm actually debating if we should have a single UI for everything. It might be complicated to maintain the status of it.

As a first step I want the simulation UI to be able to export a single step collision so we can debug it with the old UI.

I do need to add some basic rigid body editing, like setting fixed ones, but I'll first add the functionality and leave the set up on the json.

On Mon, Jul 8, 2019, 5:22 PM Zachary Ferguson notifications@github.com wrote:

@zfergus approved this pull request.

Looks good. My only complaint is that I miss the ability to see the iterations of a single step. I think it is a good idea to cut the editing features as they are getting harder to maintain. I still want the procedural scene menu, too. Does this include the ability to mark bodies/d.o.f. as static?

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