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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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erwin coumans 2016-10-07 09:01:39 -07:00
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28
README.md
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@ -2,18 +2,19 @@
[![Travis Build Status](https://api.travis-ci.org/bulletphysics/bullet3.png?branch=master)](https://travis-ci.org/bulletphysics/bullet3)
[![Appveyor Build status](https://ci.appveyor.com/api/projects/status/6sly9uxajr6xsstq)](https://ci.appveyor.com/project/erwincoumans/bullet3)
# Bullet 2.x including pybullet and experimental Bullet 3 OpenCL.
# Bullet 2.x including pybullet, Virtual Reality support
This is the official repository of Bullet 2.x, moved from http://bullet.googlecode.com
It includes the optional experimental Bullet 3 GPU pipeline.
The Bullet 2 API will stay default and up-to-date while slowly moving to Bullet 3.
The steps towards Bullet 3 are in a nutshell:
The Bullet 2 API will stay default and up-to-date while slowly moving to a new API.
The steps towards a new API is in a nutshell:
1. The old Bullet2 demos are being merged into the examples/ExampleBrowser
2. A new Bullet 3 API is created
3. All Bullet2 functionality is added to Bullet 3.
4. The OpenCL examples in the ExampleBrowser can be enabled using --enable_experimental_opencl
2. A new physics-engine agnostic C-API is created, see examples/SharedMemory/PhysicsClientC_API.h
3. Python bindings in pybullet are on top of this C-API, see examples/pybullet
4. A Virtual Reality sandbox using openvr for HTC Vive and Oculus Rift is available
5. The OpenCL examples in the ExampleBrowser can be enabled using --enable_experimental_opencl
You can still use svn or svn externals using the github git repository: use svn co https://github.com/bulletphysics/bullet3/trunk
@ -49,6 +50,18 @@ All source code files are licensed under the permissive zlib license
Click on build_visual_studio.bat and open build3/vs2010/0MySolution.sln
**Windows Virtual Reality sandbox for HTC Vive and Oculus Rift**
Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0MySolution.sln
Edit this batch file to choose where Python include/lib directories are located.
Build and run the App_SharedMemoryPhysics_VR project, preferably in Release/optimized build.
You can connect from Python pybullet to the sandbox using:
```
import pybullet as p
p.connect(p.SHARED_MEMORY)
```
**Linux and Mac OSX gnu make**
In a terminal type:
@ -80,9 +93,6 @@ You can just run it though a terminal/command prompt, or by clicking it.
```
[--start_demo_name="Demo Name"] Start with a selected demo
[--enable_pybullet] Build with pybullet Python bindings. See also examples/pybullet
[--enable_openvr] Build with VR support for HTC Vive and Oculus Rift using OpenVR
[--enable_experimental_opencl] Enable some experimental OpenCL examples
[--mp4=moviename.mp4] Create a mp4 movie of the window, requires ffmpeg installed
[--mouse_move_multiplier=0.400000] Set the mouse move sensitivity
[--mouse_wheel_multiplier=0.01] Set the mouse wheel sensitivity

8
build_visual_studio.bat
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@ -1,9 +1,5 @@
IF NOT EXIST bin mkdir bin
IF NOT EXIST bin\openvr_api.dll copy examples\ThirdPartyLibs\openvr\bin\win32\openvr_api.dll bin
cd build3
premake4 --enable_openvr --targetdir="../bin" vs2010
rem premake4 --double --enable_pybullet --python_include_dir="C:/Python-3.5.2/include" --python_lib_dir="C:/Python-3.5.2/libs" --enable_openvr --targetdir="../bin" vs2010
pause
premake4 --targetdir="../bin" vs2010
start vs2010

8
build_visual_studio_vr_pybullet_double.bat Normal file
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@ -0,0 +1,8 @@
IF NOT EXIST bin mkdir bin
IF NOT EXIST bin\openvr_api.dll copy examples\ThirdPartyLibs\openvr\bin\win32\openvr_api.dll bin
cd build3
premake4 --double --enable_openvr --enable_pybullet --python_include_dir="C:/Python-3.5.2/include" --python_lib_dir="C:/Python-3.5.2/libs" --targetdir="../bin" vs2010
start vs2010

2
data/kuka_iiwa/model.urdf
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@ -174,7 +174,7 @@
<child link="lbr_iiwa_link_4"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower=".29439510239" upper="2.09439510239" velocity="10"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_4">

2
data/teddy_vhacd.urdf
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@ -2,7 +2,7 @@
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<lateral_friction value="0.5"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>

6
examples/SharedMemory/IKTrajectoryHelper.cpp
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@ -82,6 +82,12 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
btQuaternion deltaQ = endQ*startQ.inverse();
float angle = deltaQ.getAngle();
btVector3 axis = deltaQ.getAxis();
if (angle > PI) {
angle -= 2.0*PI;
}
else if (angle < -PI) {
angle += 2.0*PI;
}
float angleDot = angle;
btVector3 angularVel = angleDot*axis.normalize();
for (int i = 0; i < 3; ++i)

9
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -145,6 +145,15 @@ int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandH
return 0;
}
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_numSolverIterations = numSolverIterations;
command->m_updateFlags |= SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
return 0;
}
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

3
examples/SharedMemory/PhysicsClientC_API.h
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@ -101,6 +101,9 @@ int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double
int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);

76
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -1490,7 +1490,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_SEND_DESIRED_STATE:
case CMD_SEND_DESIRED_STATE:
{
if (m_data->m_verboseOutput)
{
@ -1670,18 +1670,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
default:
{
b3Warning("m_controlMode not implemented yet");
break;
}
{
b3Warning("m_controlMode not implemented yet");
break;
}
}
}
}
}
serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
hasStatus = true;
break;
}
serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
hasStatus = true;
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
if (m_data->m_verboseOutput)
@ -1944,6 +1944,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS)
{
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS)
{
m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps;
@ -2701,8 +2705,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
upper_limit[i] = clientCmd.m_calculateInverseKinematicsArguments.m_upperLimit[i];
joint_range[i] = clientCmd.m_calculateInverseKinematicsArguments.m_jointRange[i];
rest_pose[i] = clientCmd.m_calculateInverseKinematicsArguments.m_restPose[i];
ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0], &rest_pose[0]);
}
ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0], &rest_pose[0]);
}
btVector3DoubleData endEffectorWorldPosition;
@ -3092,7 +3096,8 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.3, -0.05, 0.7)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.1, 0.05, 0.7)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.2, 0.15, 0.7)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.2, 0.15, 0.9))
btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.2, 0.15, 0.9)),
btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.2, 0.05, 0.8))
};
@ -3119,6 +3124,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
loadUrdf("cube_small.urdf", objectWorldTr[5].getOrigin(), objectWorldTr[5].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere_small.urdf", objectWorldTr[6].getOrigin(), objectWorldTr[6].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("duck_vhacd.urdf", objectWorldTr[7].getOrigin(), objectWorldTr[7].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("Apple/apple.urdf", objectWorldTr[8].getOrigin(), objectWorldTr[8].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// Shelf area
loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
@ -3286,7 +3292,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
}
}
int ikMethod= IK2_VEL_DLS_WITH_ORIENTATION; //IK2_VEL_DLS;
int ikMethod= IK2_VEL_DLS_WITH_ORIENTATION; //IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE; //IK2_VEL_DLS;
btVector3DoubleData endEffectorWorldPosition;
btVector3DoubleData endEffectorWorldOrientation;
@ -3317,6 +3323,46 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
//controllerOrn.serializeDouble(targetWorldOrientation);
if (ikMethod == IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE)
{
btAlignedObjectArray<double> lower_limit;
btAlignedObjectArray<double> upper_limit;
btAlignedObjectArray<double> joint_range;
btAlignedObjectArray<double> rest_pose;
lower_limit.resize(numDofs);
upper_limit.resize(numDofs);
joint_range.resize(numDofs);
rest_pose.resize(numDofs);
lower_limit[0] = -2.32;
lower_limit[1] = -1.6;
lower_limit[2] = -2.32;
lower_limit[3] = -1.6;
lower_limit[4] = -2.32;
lower_limit[5] = -1.6;
lower_limit[6] = -2.4;
upper_limit[0] = 2.32;
upper_limit[1] = 1.6;
upper_limit[2] = 2.32;
upper_limit[3] = 1.6;
upper_limit[4] = 2.32;
upper_limit[5] = 1.6;
upper_limit[6] = 2.4;
joint_range[0] = 5.8;
joint_range[1] = 4;
joint_range[2] = 5.8;
joint_range[3] = 4;
joint_range[4] = 5.8;
joint_range[5] = 4;
joint_range[6] = 6;
rest_pose[0] = 0;
rest_pose[1] = 0;
rest_pose[2] = 0;
rest_pose[3] = SIMD_HALF_PI;
rest_pose[4] = 0;
rest_pose[5] = -SIMD_HALF_PI*0.66;
rest_pose[6] = 0;
ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0], &rest_pose[0]);
}
ikHelperPtr->computeIK(targetWorldPosition.m_floats, targetWorldOrientation.m_floats,
endEffectorWorldPosition.m_floats, endEffectorWorldOrientation.m_floats,
@ -3351,7 +3397,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
btScalar desiredVelocity = 0.f;
btScalar desiredPosition = q_new[link];
motor->setRhsClamp(gRhsClamp);
//motor->setRhsClamp(gRhsClamp);
//printf("link %d: %f", link, q_new[link]);
motor->setVelocityTarget(desiredVelocity,1.0);
motor->setPositionTarget(desiredPosition,0.6);