Erwin Coumans
1bb133a01f
update to OpenVR 1.07 from https://github.com/ValveSoftware/openvr
2017-05-03 08:40:29 -07:00
Erwin Coumans
305725e52e
add --serial option in premake, added serial library to test vr glove in C++ (pybullet works already fine)
2017-05-01 15:04:00 -07:00
David Carlier
756568ad9c
build fix for BSD systems
2017-04-16 17:53:44 +01:00
Erwin Coumans
a43f3b026a
testing ImGui, nice and simple!
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https://github.com/ocornut/imgui
This would replace GWEN.
2017-04-11 17:10:25 -07:00
Erwin Coumans
4db6fa9e29
update minitaur.py to use minitaur.urdf (instead of quadruped.urdf), also sort the legs in the same order as real hardware
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added test urdf files for minitaur with all fixed joints, or fixed knees.
added some stiffness/damping to minitaur legs (testing)
tiny_obj_loader, don't crash on invalid texture coordinates
btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
2017-03-15 15:38:50 -07:00
Oleg Klimov
5b2a9d1a01
URDF loader: resources path, "package://" removal, error messages, zero material path in .obj loader
2017-03-08 15:14:54 +03:00
Erwin Coumans
2eb019cdc3
Created Wavefront obj to sdf converter, to make it easier to import complex obj models with many materials. See kitchen for example.
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Fix in tinyobj, make sure material is initialized
Add fatihrmutfak kitchen model, for Virtual Reality and some research
2017-03-01 10:06:10 -08:00
Erwin Coumans
0b27edf172
allow to compile/run 64bit version of VR lib, workaround for issue that both 32bit and 64bit version is called openvr_api.dll
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Now 64bit version is called openvr64pi.dll (patched the 64bit binary library openvr_api.lib)
See also https://github.com/ValveSoftware/openvr/issues/412
2017-02-22 15:50:09 -08:00
Erwin Coumans
28146e816f
export TCP connection mode to pybullet
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made TCP disconnection detection more reliable
2017-02-20 20:34:05 -08:00
Erwin Coumans
3faab1b019
adjusted clsocket build and test, so there is an EchoServer and QueryDayTime sending a string to the EchoServer.
2017-02-19 12:08:58 -08:00
Erwin Coumans
4faa6613c9
first draft of premake/cmake build files for clsocket (tiny cross-platform TCP socket library)
2017-02-19 11:48:01 -08:00
Erwin Coumans
957266b121
add tiny cross-platform TCP socket library from https://github.com/DFHack/clsocket
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(todo: hook-up to Bullet cmake/premake build systems, and implement TCP alternative for UDP server)
2017-02-19 10:25:55 -08:00
erwincoumans
9705bb7681
Merge pull request #949 from YunfeiBai/master
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EGL OpenGL window.
2017-02-07 08:39:12 -08:00
erwincoumans
8a85b3b697
Update Utility.cpp
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reduce stack size, it conflicts with some in-house build systems/compiler limits.
2017-02-06 17:20:03 -08:00
yunfeibai
c92fd6120d
EGL OpenGL window.
2017-02-06 16:22:17 -08:00
yunfeibai
3442b6524a
Merge remote-tracking branch 'upstream/master'
2017-02-03 12:32:08 -08:00
yunfeibai
0022d0dafb
Modify damped least square IK formulation. Test setting joint damping coefficients for IK.
2017-01-31 22:58:37 -08:00
Erwin Coumans
7df123025f
URDF parser: allow inertial element in just ixx, iyy, izz format (non-standard URDF)
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tiny_obj_loader: don't crash when/if normals are not specified
2017-01-31 18:09:44 -08:00
Erwin Coumans
94c768bea8
cmake build support for VR demo (WIN32 only)
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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
Erwin Coumans
8c480b1cd7
revert to older version of stb_image, the new version causes issues in
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our build system.
2017-01-23 17:36:43 -08:00
Erwin Coumans
3dfcd27147
upgrade to latest stb_image from
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7e989db555
2017-01-16 11:37:44 -08:00
Erwin Coumans
c0c4c8ba3f
fix many warnings
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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
2017-01-15 22:26:11 -08:00
erwin coumans
a393074793
update to latest OpenVR 1.04 (and make minor API changes)
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add premake5.exe (will remove premake4.exe soon)
2016-12-11 22:39:45 -08:00
erwincoumans
2329c00faa
Add RtMidi for midi control, use the --midi option in premake, and see
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update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr
add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc)
tweak quadruped.py to move a bit
add mouse picking to physics server
2016-11-16 16:12:59 -08:00
Erwin Coumans
2bb53b311d
silence warning
2016-11-07 21:13:48 -08:00
erwincoumans
9708392322
work-in-progress
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add UDP network connection for physics client <-> server.
also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 13:15:10 -07:00
yunfeibai
29f890ae10
Add desired null space velocity computation.
2016-09-29 22:45:31 -07:00
yunfeibai
94c7bbe8e3
Add null space task for IK.
2016-09-29 17:12:51 -07:00
yunfeibai
0ee12475af
Add matrix inverse computation in BussIK.
2016-09-29 15:45:57 -07:00
Ian Wilkes
a2baf446ea
Fixed mismatched new and delete in BussIK VectorRn and MatrixRmn
2016-09-28 13:55:16 -07:00
erwin coumans
310a330572
fix InverseKinematics+API for a case without tree (custom build Jacobian)
2016-09-22 13:27:09 -07:00
yunfeibai
cbda64c5e7
Update theta dot for velocity IK.
2016-09-20 10:24:48 -07:00
yunfeibai
bf16c87987
Add orientation constraint to IK.
2016-09-19 17:04:05 -07:00
yunfeibai
c952c50ad9
Merge remote-tracking branch 'upstream/master'
2016-09-11 04:11:51 -07:00
yunfeibai
a00841a498
Compute delta S from Bullet link state.
2016-09-10 19:18:29 -07:00
erwin coumans
32eccdff61
Create project file for BussIK inverse kinematics library (premake, cmake)
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URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)
2016-09-08 15:15:58 -07:00
yunfeibai
c94a8e0d35
Use body Jacobian from Bullet for IK.
2016-09-07 23:14:23 -07:00
yunfeibai
c198029cb9
Expose body Jacobian in shared memory API.
2016-09-07 16:00:38 -07:00
Erwin Coumans
a30ff20e6b
preparation for KUKA IK tracking example
2016-08-30 14:44:11 -07:00
Erwin Coumans
a608f9bfdd
fix trailing space issue in tinyobjloader/mtl files.
2016-08-01 23:46:35 -07:00
erwincoumans
0c0b4be665
Merge pull request #722 from matpalm/fixSetIdentity
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fix setidentity bug
2016-07-29 14:50:16 -07:00
Mat Kelcey
80dfec170b
fix setidentity bug
2016-07-29 14:43:55 -07:00
Mat Kelcey
a7a9182953
fix warning: extra tokens at end of #endif directive
2016-07-28 16:47:05 -07:00
Erwin Coumans
53fa57bdc4
make IK compile on Mac OSX
2016-07-24 23:50:18 -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
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
58206b7962
Add preliminary support for VR/OpenVR for HTC Vive and Oculus Rift,
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(Windows-only first, later Linux and OSX)
Use premake to build, use --enable_openvr flag
2016-06-30 16:03:38 -07:00
Erwin Coumans
d186320f30
fixes in rendering
2016-05-13 18:45:56 -07:00
erwin coumans
6a9c54c4ef
Remove unused ROS urdf (was replaced by Bullet UrdfParser.
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Small refactoring for ExampleBrowser: move examples cpp files in the app/executable
Move ExtendedTutorials in its own app/executable as a test.
2016-05-12 23:03:12 -07:00
Erwin Coumans
d2793ec5c0
fix char -> int, to allow check with -1, some build systems fail
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to make char a signed char
fix unused variable
removed duplicate header files in Gwen/Controls/Layout
2016-03-31 12:52:04 -07:00