yunfeibai
24b3e137a6
Render shadow with depth from light.
2016-11-21 10:21:14 -08:00
yunfeibai
1b312dab3c
Remove the temporary test code.
2016-10-21 12:42:42 -07:00
yunfeibai
3d79961725
Add API to change texture with object id and link index.
2016-10-21 11:55:27 -07:00
yunfeibai
4911b14271
Add loading texture API.
2016-10-20 23:40:30 -07:00
yunfeibai
1c04da23db
Change texture with loaded texture file.
2016-10-20 21:40:44 -07:00
yunfeibai
35688e4ecf
Change texture for one body.
2016-10-20 14:20:09 -07:00
yunfeibai
6ef96a4027
Add programmatic render API and a basic test.
2016-10-20 10:56:44 -07:00
erwin coumans
f97cb7002d
first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API
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b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
2016-10-18 22:05:28 -07:00
erwin coumans
29f3afe2a4
don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps
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optimize gpu upload (use glBufferSubData instead of glMapBuffer
Avoid checking char array against zero.
2016-10-14 15:06:09 -07:00
erwincoumans
33d9603e16
Add rudimentary 'saveWorld' command in shared memory API and pybullet, see examples/pybullet/saveWorld.py
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Use trilinear filtering instead of bilinear
2016-10-12 23:03:36 -07:00
erwin coumans
0936ae6600
expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world.
2016-09-27 12:13:45 -07:00
erwincoumans
85fd7f560c
add first draft of contact point query in shared memory API
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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
erwin coumans
6005e54aa1
Fix some inconsistencies in URDF file handling between btRigidBody and btMultiBody
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(rotation order and application of root-inertial-frame offset)
2016-08-18 09:44:33 -07:00
Erwin Coumans
c75bebcafe
revert accidently renaming of m_depthvalues4
2016-08-12 13:55:37 -07:00
Erwin Coumans
3c30e2f821
add segmentation mask rendering to TinyRenderer and shared memory API
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similar to the zbuffer, but storing the object index (int) instead of float depth
2016-08-11 14:55:30 -07:00
erwin coumans
a9b1544a9f
Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit.
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Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and
b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage.
Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option
Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc])
Thanks to Jeff Bingham for the suggestion.
2016-08-09 18:40:12 -07:00
Erwin Coumans
b880ddf76b
add pybullet render API with yaw/pitch/roll option
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add testrender.py file
allow option to enable OpenGL hardware renderer in multithreaded sim
b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
2016-08-08 14:23:44 -07:00
erwin coumans
75e86051c2
Add inverse kinematics example with implementations by Sam Buss.
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Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
2016-07-24 22:22:42 -07:00
Erwin Coumans
10cc6f14cb
add option to use hardware OpenGL renderer for synthetic camera
2016-07-12 18:16:13 -07:00
erwin coumans
d0f20eafd1
Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR.
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Add option to have Z as up-axis for VR examples.
Add OpenVR LICENSE + README file
Don't crash VR app when no HMD is detected, just exit.
For now, don't request debug lines in client, it slows down physics server in VR mode too much.
2016-07-02 18:53:19 -07:00
Erwin Coumans
2cd0eba257
re-introduce old method in pybullet for temporary back-wards compatibility
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b3JointControlCommandInit requires 3 args, but it was only 2,
use b3JointControlCommandInit2 for now.
2016-06-23 08:40:36 -07:00
Erwin Coumans
53a0772257
fix some issues related to controlling a robot/multibody beyond body index 0
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(most testing happened with a single robot/multibody so far)
preliminary pybullet.setJointControl implementation
2016-06-16 18:46:34 -07:00
Erwin Coumans
456c844a6b
work-in-progress send object/joint information after loading SDF file
2016-06-14 18:41:19 -07:00
erwincoumans
6523df336e
Fix pybullet Windows build errors: C99 requires variables to be defined at the start of the function.
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Improve CMake Windows support to build PyBullet (BUILD_PYBULLET)
Implement b3LoadSdfCommandInit in shared memory API
Implement pybullet SDF loading binding, in loadSDF API
TODO for SDF support is provide way to query object/link/joint information.
2016-06-13 10:11:28 -07:00
Jasmine Hsu
ecc192df94
render image with ability to set pixel resolution and initial camera position
2016-06-10 15:07:52 -07:00
Erwin Coumans
98d2f91f3c
fix flipped tinyrenderer image
2016-06-09 12:12:46 -07:00
Erwin Coumans
d2e50d045b
fix issues related to camera width/height
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add width,height as arguments to pybullet.renderImage(x,y,[viewMat4x4],[projMat4x4])
2016-06-07 16:11:58 -07:00
Erwin Coumans
1c7f87aff1
implement first draft of pybullet.renderImage for synthetic camera
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remove a few debug printf from tinyrenderer
2016-06-06 18:54:05 -07:00
erwin coumans
4b2c0f6d89
make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF
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add an example using 'direct'
fix the send-desired-state commands, to add flags for arguments set, using default values.
Start exposing SDF loading in shared memory api, not fully implemented yet.
2016-06-03 19:03:56 -07:00
Erwin Coumans
5bf125cab5
fix some compile issues using premake
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use textured cube/sphere model for test
2016-06-02 13:54:52 -07:00
Erwin Coumans
aa4d2ae01d
initial hookup of TinyRenderer to shared memory interface
2016-06-01 17:47:41 -07:00
erwin coumans
ef85a71d4b
more work on synthetic camera
2016-06-01 11:04:10 -07:00
erwin coumans
14aa666c6f
preparation to receive camera image data from physics server
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increase shadowmap world size default to 50 units (meter), 10 units (meter) was too small for most examples.
2016-05-31 10:23:04 -07:00
erwin coumans
2fc0358750
Expose a better API to allow any render engine to be used for the physics simulation when loading URDF/SDF files.
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See bullet3/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
Give the kuka_iiwa/model.urdf some blue color, not just orange, to mimick the original a bit better
Preparation for the CMD_CAMERA_IMAGE_COMPLETED command, to expose a virtual camera to the robotics API
2016-05-19 18:37:15 -07:00
erwin coumans
a395ddcb06
add option to embed a physics server in the physics client example, for easier debugging
2016-05-18 09:34:42 -07:00
yunfeibai
cbeddfc897
Modify shared memory client example to test joint motor torque measurement.
2016-04-19 16:52:47 -07:00
yunfeibai
c3afbf7689
set desired position target
2016-04-19 14:19:18 -07:00
Erwin Coumans
a3154f7a56
use b3ConnectSharedMemory in PhysicsClient example, instead of b3ConnectPhysicsLoopback
2016-01-27 13:36:33 -08:00
Erwin Coumans
b4701613c8
consistent *API.* in examples/SharedMemory
2015-11-23 08:00:42 -08:00
erwincoumans
03bf78ef49
add physics server loopback (both client and server in the same process, using shared memory)
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add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-22 20:50:32 -08:00
Erwin Coumans
f6a8079353
sync repo
2015-11-11 12:44:26 -08:00
erwincoumans
3b9b803683
b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API
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Parse and use colors from URDF file (single rgba color per link, not per visual)
Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof'
btHashMap, add const Value* operator[]
remove a few more obsolete btMultiBody methods (on the non-multi-dof path)
fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill)
Add mention to Jakub Stepien for his work on btMultiBody
2015-11-06 17:11:15 -08:00
Erwin Coumans
6e042b1901
re-enable wireframe in PhysicsClient
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inintialize variables in constructor of PhysicsClient
2015-10-30 13:24:02 -07:00
erwin coumans
2d5d89d999
Allow to request the state of a rigid body (position, orientation, lin/ang velocity) through shared memory API
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PhysicsClientC_API: b3RequestActualStateCommandInit requires a body unique Id as second argument
2015-10-27 15:46:13 -07:00
erwin coumans
9cc2b1ec12
Physics SharedMemory:
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Add flags BOX_SHAPE_HAS_MASS and BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE to CMD_CREATE_RIGID_BODY
(which maps to CMD_CREATE_BOX_COLLISION_SHAPE for backward compatibility for now)
Need to add way to receive world transform
2015-10-27 14:55:46 -07:00
erwin coumans
a0e507280c
Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle).
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See PhysicsClientExample for example use of CMD_INIT_POSE.
Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
2015-10-13 22:23:28 -07:00
erwin coumans
4a29986662
initial support for multiple robots in shared memory API
2015-10-13 11:32:25 -07:00
=
e05825f639
improvements to the shared memory physics API:
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support picking in C API etc.
2015-09-24 22:42:22 -07:00
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003a42478b
another step closer to useable shared memory C API
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(force/torque sensor needs new API)
in a nutshell, users of shared memory physics API should not
directly poke into shared memory, not fill 'SharedMemorCommand'
nor read SharedMemoryStatus directly. The C-API declares 'handles' for those,
to avoid it from happening.
2015-09-16 23:09:10 -07:00
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d72cda101c
fixes in shared memory client/server: check for valid pointers
2015-09-09 15:14:47 -07:00
