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Author SHA1 Message Date
yunfeibai
1b72b91bcf Expose link state in RobotSimAPI. 2016-09-10 18:48:57 -07:00
yunfeibai
c94a8e0d35 Use body Jacobian from Bullet for IK. 2016-09-07 23:14:23 -07:00
yunfeibai
f635c64205 Expose Jacobian computation to RobotSimAPI. 2016-09-07 17:37:38 -07:00
yunfeibai
c198029cb9 Expose body Jacobian in shared memory API. 2016-09-07 16:00:38 -07:00
erwincoumans
21c60c66ec Merge pull request #767 from ludi1001/urdf-joint-transforms 
Fix joint orientations when loading URDF files.
 2016-09-02 08:21:02 -07:00
erwincoumans
23f7293a25 Merge pull request #768 from erwincoumans/master 
implement pybullet.getContactPointData(), two optional object unique …
 2016-09-01 22:31:06 -07:00
Erwin Coumans (Google)
f7522873f9 fix compile issue on Linux 2016-09-01 22:11:07 -07:00
Erwin Coumans
842863c04f add commented-out line in build_visual_studio.bat to show how to build pybullet on Windows 2016-09-01 21:37:52 -07:00
Erwin Coumans
fe54f146ad Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-01 21:26:38 -07:00
Erwin Coumans
e98fca1e5e implement pybullet.getContactPointData(), two optional object unique ids as filter 
returns a pylist of contact points. Each point has the following data:

	0     int m_contactFlags;//unused for now
         1     int m_bodyUniqueIdA;
         2     int m_bodyUniqueIdB;
         3     int m_linkIndexA;
         4     int m_linkIndexB;
         5-6-7     double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
         8-9-10     double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
         11-12-13     double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
         14     double m_contactDistance;//negative number is penetration, positive is distance.

         15    double m_normalForce;
 2016-09-01 18:28:39 -07:00
Logan Su
9d2d286c46 Fix joint orientations when loading URDF files. 2016-09-01 18:12:14 -07:00
erwincoumans
a370c3bbac Merge pull request #765 from YunfeiBai/master 
Torsional and rolling friction for btMultiBody
 2016-09-01 14:57:46 -07:00
erwincoumans
03f09042e2 Merge pull request #766 from erwincoumans/master 
[SharedMemory] Calculate inverse dynamics now uses world gravity.
 2016-09-01 14:37:50 -07:00
erwincoumans
fe46ee8adf Merge branch 'master' of https://github.com/erwincoumans/bullet3 
Conflicts:
	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2016-09-01 13:32:07 -07:00
erwincoumans
85fd7f560c add first draft of contact point query in shared memory API 
b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData);
Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet.
Add btCollisionObject::setUserIndex2
 2016-09-01 13:30:07 -07:00
erwincoumans
c7ad8f2a3d Merge pull request #1 from bingjeff/master 
[SharedMemory] Calculate inverse dynamics now uses world gravity.
 2016-09-01 11:18:02 -07:00
Jeffrey Bingham
1c65cae6d0 [SharedMemory] Calculate inverse dynamics now uses world gravity. 
Small change that takes the world gravity and applies it to the
body during the call to inverse dynamics in the shared memory
interface. Otherwise the gravity vector is left at the default
value and there is currently no interface to set the gravity
for the inverse dynamics system.
 2016-09-01 10:46:34 -07:00
erwincoumans
7790ee2f02 fix compile issue with pybullet.c on Visual Studio 2016-08-31 16:05:42 -07:00
yunfeibai
9c124b5896 Rolling friction demo for sphere and torsional friction demo for two point contact. 2016-08-30 17:50:37 -07:00
erwincoumans
552da3adb5 Merge pull request #764 from erwincoumans/master 
preparation for KUKA IK tracking example
 2016-08-30 17:23:13 -07:00
Erwin Coumans
e6865a1186 Merge remote-tracking branch 'bp/master' 2016-08-30 14:44:35 -07:00
Erwin Coumans
a30ff20e6b preparation for KUKA IK tracking example 2016-08-30 14:44:11 -07:00
yunfeibai
d784c61b61 Add rolling friction, set rolling friction coefficient from urdf, and set up two point contact experiment. 2016-08-30 11:19:23 -07:00
erwincoumans
4ebd6b144b Merge pull request #763 from ludi1001/enable-load-inertia-from-urdf 
Add flags to load inertia values from URDF.
 2016-08-30 08:59:29 -07:00
Logan Su
f86ce4d44b Add flags to load inertia values from URDF. 2016-08-29 15:09:18 -07:00
Erwin Coumans
900fd86d58 fix R2D2GraspExample 2016-08-29 12:35:02 -07:00
Erwin Coumans
e47c74ce0b prevent crash when using --opengl2 option in ExampleBrowser. 2016-08-29 11:48:31 -07:00
Erwin Coumans
68efd7dd6e Merge remote-tracking branch 'bp/master' 2016-08-29 10:38:59 -07:00
Erwin Coumans
9fc438e742 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-29 10:38:51 -07:00
erwincoumans
fb57689fad Merge pull request #760 from erwincoumans/master 
Disable 'm_robotSim.setNumSimulationSubSteps' because it is not neede…
 2016-08-29 10:36:51 -07:00
erwin coumans
4094b9f0df Disable 'm_robotSim.setNumSimulationSubSteps' because it is not needed at the moment 
Fix issue in contact/friction between btMultibody and btRigidBody (external force/torque of btRigidBody was not taken into account during contact/friction setup)
Allow 0.1 mm slop in contact, to avoid loosing contact. Todo: allow contacts with positive distance in multibody solver.
 2016-08-27 13:44:18 -07:00
Erwin Coumans
887e88a490 Merge remote-tracking branch 'bp/master' 2016-08-27 10:37:48 -07:00
Erwin Coumans
fb3f2d896c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-27 10:37:35 -07:00
erwincoumans
c741b17da8 Merge pull request #758 from YunfeiBai/master 
Expose slider constraint in RobotSimAPI.
 2016-08-26 12:26:08 -07:00
erwincoumans
79be5800cb Merge pull request #757 from erwincoumans/master 
fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBo…
 2016-08-26 12:08:29 -07:00
yunfeibai
5b9b5178f9 Expose slider constraint in RobotSimAPI. 2016-08-26 10:35:10 -07:00
erwin coumans
c5164e503f fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBodyDoubleData 
causing serialization issue in  URDF/SDF loading in double-precision mode on Windows 32bit.
(it was fine on Mac/Linux 64bit)
bump serialization version to 2.85, as we change the file format
fix in name clash in makesdna.cpp -> intptr_t is already defined.
 2016-08-26 10:00:29 -07:00
erwincoumans
c29d445b94 Merge pull request #750 from TIHan/quick_fix1 
Fixed btKinematicCharacterController from clipping through walls in corners.
 2016-08-25 20:26:42 -04:00
erwincoumans
0baef2b84e Merge pull request #754 from YunfeiBai/master 
Set physics clock subdivider and fixed constraint in RobotSimAPI.
 2016-08-25 20:24:54 -04:00
erwincoumans
6c961cadf0 Merge pull request #755 from erwincoumans/master 
[InverseDynamics] Support for Jacobians & derivatives
 2016-08-25 20:20:28 -04:00
Erwin Coumans
2861d2ae59 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-25 20:02:34 -04:00
Erwin Coumans
ba8964c4ac [InverseDynamics] Support for Jacobians & derivatives 
This change adds support for calculating Jacobians and
dot(Jacobian)*u terms, along with the required support for
the 3xN matrices in the standalone math library.
It also adds functions to compute kinematics only (position, velocity, accel).
To facilitate tests, the Cl also adds a RandomTreeCreator to create
randomized multibody trees.
Thanks to Thomas Buschmann for this contribution!
 2016-08-25 16:24:28 -07:00
yunfeibai
c26da8440d Add slider constraint. 2016-08-25 11:54:59 -07:00
yunfeibai
758ca025d5 Set physics clock subdivider. 2016-08-24 14:25:06 -07:00
yunfeibai
3b25489d89 Further fix for integration test. 2016-08-24 12:44:24 -07:00
yunfeibai
ecbf94abaa Fix issues in build test. 2016-08-24 11:31:08 -07:00
erwincoumans
d8ee189908 Update README.md 2016-08-23 00:05:04 -04:00
erwincoumans
dacd428d08 Merge pull request #749 from erwincoumans/master 
debug draw contact normals (1cm) use black color
 2016-08-22 23:53:55 -04:00
yunfeibai
d46710e447 Expose fixed constraint in RobotSimAPI. 2016-08-22 18:14:29 -07:00
erwincoumans
db66b06640 Merge pull request #753 from YunfeiBai/master 
Add micro sleep to fix slowness problem in VR.
 2016-08-22 17:20:46 -04:00