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Author SHA1 Message Date
yunfeibai
0022d0dafb Modify damped least square IK formulation. Test setting joint damping coefficients for IK. 2017-01-31 22:58:37 -08:00
erwincoumans
2fa3e267fc Merge pull request #940 from erwincoumans/master 
fix sphere-triangle for degenerate triangles (zero area/normal), fix 'safeNormalize' (probably should remove it)
 2017-01-30 21:26:08 -08:00
erwincoumans
690bd4f265 fix rendering of rays in Benchmark demo when using BT_USE_DOUBLE_PRECISION 2017-01-30 18:51:19 -08:00
erwincoumans
72dd8285e8 fix 'safeNormalize' (probably should remove it) 
Fix for Issue 953: cull degenerate triangles
https://github.com/bulletphysics/bullet3/issues/935
Thanks to Oleg Klimov for the report and reproduction case.
 2017-01-30 18:12:09 -08:00
erwincoumans
fc59a40127 Merge pull request #905 from lunkhound/pr-sel-solver-type 
example browser: add controls for changing the solver type and solver flags
 2017-01-30 10:22:31 -08:00
erwincoumans
fc7125081a Merge pull request #938 from erwincoumans/master 
Move ChromeTracing in its own file, and add tracing support for VR se…
 2017-01-30 10:20:35 -08:00
Lunkhound
f65644f3e0 fix compile error when BT_THREADSAFE not defined 2017-01-29 21:13:24 -08:00
erwincoumans
a877deb4c3 Merge pull request #934 from kkimdev/BT_ID_ 
Add and use BT_ID_* math functions for idScalar.
 2017-01-29 21:10:25 -08:00
erwincoumans
26a34e3cda Move ChromeTracing in its own file, and add tracing support for VR server (App_SharedMemoryPhysics_VR) 
Add a bit of extra sleep in PhysicsServer thread, to make rendering smoother.
 2017-01-29 20:59:47 -08:00
erwincoumans
12711a0226 Merge pull request #937 from erwincoumans/master 
improvements/fixes in pybullet/shmem UDP network handling
 2017-01-29 10:24:41 -08:00
erwincoumans
446cb77a5e [UDP] disconnect needs to set m_data->m_isConnected=false 2017-01-28 23:18:26 -08:00
erwincoumans
d0e1ec8c48 add a usleep(0) to improve UDP performance on Windows (busy-loop eats all CPU time, other thread didn't proceed) 2017-01-28 22:46:23 -08:00
erwincoumans
87bce5eacf UDP networking improvements and experiments (send CMD_STEP_FORWARD_SIMULATION as 4 bytes command, status 8 bytes, instead of enormous command/status packages. 
Change some timeouts to use actual RTC time instead of dummy loops 1024*1024*1024.
Fix type conected -> connected
 2017-01-28 22:14:45 -08:00
Erwin Coumans
2ea7111933 [pybullet] clear error after parsing UDP string argument (instead of shared memory 'int' argument) 2017-01-28 13:03:01 -08:00
erwincoumans
386317057d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-28 12:42:28 -08:00
erwincoumans
2b3c25d5f2 add a b3Clock::usleep in PhysicsClientUDP to avoid clogging all resources 
report more meaningful connection status for UDP.
 2017-01-28 12:42:04 -08:00
erwincoumans
c0a9b9cf44 Update btSerializer.cpp 2017-01-28 12:23:01 -08:00
erwincoumans
735568d3ee Update btSerializer.cpp 
accidently added an additional line in btSerializer.cpp
 2017-01-28 12:19:35 -08:00
erwincoumans
5c92bee01c Merge pull request #933 from erwincoumans/master 
cmake build support for VR demo (WIN32 only)
 2017-01-27 09:28:37 -08:00
erwincoumans
7e59cecd13 removed some link from MJCF hand, the parser doesn't handle that root link properly (yet) 2017-01-26 17:52:12 -08:00
erwincoumans
1dec1a39ce Add the pybullet vrhand.py script used in this haptic video: 
Make sure to run the App_SharedMemoryPhysics_VR with --norobotassets option, then
run vr_kuka_setup.py, to add some environment + objects.
 2017-01-26 17:22:01 -08:00
Kibeom Kim
761275df28 Add and use BT_ID_* math functions for idScalar. 2017-01-26 11:40:09 -08:00
erwincoumans
37ed4b819a [cmake] only use BT_ENABLE_VR for the _VR target 
use -DUSE_DOUBLE_PRECISION=ON when building pybullet and/or VR targets
 2017-01-25 22:41:31 -08:00
Erwin Coumans
94c768bea8 cmake build support for VR demo (WIN32 only) 
update to latest OpenVR 1.05 SDK from https://github.com/ValveSoftware/openvr
add keyboard support to tune default camera VR position
VR revert to double 'distorted' views on Desktop, since the single view isn't showing full scene
 2017-01-25 19:17:57 -08:00
erwincoumans
a230c941f9 Merge pull request #932 from erwincoumans/master 
minor fixes, report visual frame instead of inertial frame in visualShapeData
 2017-01-25 11:37:23 -08:00
Erwin Coumans
980908bdee add optimized version of sphere-capsule and capsule-sphere, re-using the capsule-capsule code with zero height for a sphere. 2017-01-25 10:45:55 -08:00
Erwin Coumans
e652696f52 report localVisualFrame instead localInertialFrame 2017-01-25 08:29:45 -08:00
Erwin Coumans
76dcf3a751 remove the contype=0 in inverted_pendulum.xml, so we can 'mouse-pick' the pendulum. 
[mjcf importer] add rudimentary support for inertial frame computation, for 'fromto' capsules.
 2017-01-24 21:10:21 -08:00
erwincoumans
a9be975601 Merge pull request #931 from erwincoumans/master 
fix a few warnings
 2017-01-24 09:06:38 -08:00
Erwin Coumans
95e25d9942 fix a few warnings 2017-01-24 08:36:46 -08:00
erwincoumans
7e22e225a3 Merge pull request #930 from erwincoumans/master 
Update btMultiBody.h (make compTreeLinkVelocities public)
 2017-01-23 23:06:53 -08:00
erwincoumans
bc997c1fd0 Update btMultiBody.h 2017-01-23 22:53:11 -08:00
erwincoumans
f81743eee0 Merge pull request #929 from erwincoumans/master 
more btCapsuleShape fixes:w
 2017-01-23 22:44:43 -08:00
Erwin Coumans
1b2db1ff09 more btCapsuleShape fixes 
use hello_mjcf.xml for MJCF importer
 2017-01-23 22:22:02 -08:00
Erwin Coumans
a25a5e523c drop non-uniform local scaling support for btCapsuleShape 2017-01-23 21:10:32 -08:00
erwincoumans
9a8b0272d4 Merge pull request #928 from erwincoumans/master 
more fixes for btCapsuleShape: its entire radius is collision margin
 2017-01-23 19:43:57 -08:00
Erwin Coumans
2f381dece8 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-23 19:38:28 -08:00
Erwin Coumans
0060c42ae8 more fixes for btCapsuleShape: its entire radius is collision margin, don't let the user override it (similar to a btSphereShape) 2017-01-23 19:38:14 -08:00
Erwin Coumans
8c480b1cd7 revert to older version of stb_image, the new version causes issues in 
our build system.
 2017-01-23 17:36:43 -08:00
Erwin Coumans
e7dbf0b3e8 Merge remote-tracking branch 'bp/master' 2017-01-23 17:26:34 -08:00
Erwin Coumans
ce9d8d96c9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-23 17:26:23 -08:00
erwincoumans
8125b2610b Merge pull request #927 from erwincoumans/master 
Fix TinyRenderer light rendering, fix btCapsuleShape collision margin, add capsule support for URDF parser
 2017-01-23 17:15:23 -08:00
Erwin Coumans
fac943d9c7 Merge remote-tracking branch 'bp/master' 2017-01-23 16:47:07 -08:00
Erwin Coumans
d465e1eea5 add capsule support in urdf parser (non-standard extension), capsule.urdf 
fix btCapsuleShape (X,Y,Z) margin issue
fix uninitialized variables in TinyRenderer: m_hasLightDistance, m_hasLightAmbientCoeff, m_hasLightDiffuseCoeff, m_hasLightSpecularCoeff
pybullet/shared memory API 'getClosestPoints' / b3InitClosestDistanceQuery, only report contacts equal/smaller distance than given
 2017-01-23 16:45:18 -08:00
Erwin Coumans
f2da5d41c9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-22 21:26:15 -08:00
erwincoumans
d2c7d0b57d Merge pull request #926 from erwincoumans/master 
more improvements to pybullet (bodies/constraints are up-to-date after reconnection), pybullet quickstart guide
 2017-01-22 21:22:10 -08:00
Erwin Coumans
73e83d6e84 fix OSX build, fix some warnings 2017-01-22 21:06:51 -08:00
Erwin Coumans
cad45b9c20 add test script to move pr2 controller using pybullet (after initializing the world using vr_kuka_setup.py 2017-01-22 19:48:28 -08:00
Erwin Coumans
cf9f022d39 [pybullet] getNumConstraints, getConstraintInfo APIs. 
[pybullet] updated pybullet_quickstartguide.pdf
Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal.
pybullet getConstraintInfo
Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
 2017-01-22 19:08:31 -08:00
Erwin Coumans
f237c4440f pybullet: only allow a single local in-process GUI connection 
update pybullet quickstart guide
 2017-01-21 14:30:37 -08:00