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52 Commits

Author SHA1 Message Date
Erwin Coumans
68424feb2d don't use empty frame for pose in sdf files 
use hint for clang that if (0) is intentional
 2021-08-30 19:40:20 +00:00
WenlongLu
62eb2f7788 Disable velocity calculation in kinematic multibody mode by default 
We haven't implemented this for the multi body joints. To be consistent, let's disable it for the base as well, and let user to set the velocities.
 2020-12-14 17:19:27 -08:00
WenlongLu
8ccd67727f Add KinematicMultiBodyExample to premake4.lua 2020-11-13 15:56:09 -08:00
WenlongLu
56b42925d8 Support kinematic multibody joints/links 2020-11-11 22:14:07 -08:00
WenlongLu
5a1977b176 Remove the uninitialized child link in the example 2020-11-11 14:12:47 -08:00
WenlongLu
2fc72577f1 minor example cleanup 2020-10-29 23:35:42 -07:00
WenlongLu
b95f9d3afb Add kinematic multibody base example 2020-10-29 23:34:53 -07:00
erwincoumans
60b9551b38 If a convex has called 'initializePolyhedralFeatures', use those features also to create debug visualizer mesh, to avoid showing penetration. 
Avoid crash in InvertedPendulumPDControl, due to recent change in m_jointFeedbackInWorldSpace
 2018-11-12 21:46:11 -08:00
Erwin Coumans
882252f8c0 move global from btMultiBody into dynamicsWorld.getSolverInfo 2018-11-05 10:50:03 -08:00
erwincoumans
dba239fe8d First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface. 
A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory.
Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h
Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
 2018-10-08 21:27:08 -07:00
erwincoumans
ab8f16961e Code-style consistency improvement: 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
 2018-09-23 14:17:31 -07:00
Erwin Coumans
6d53f1a6d9 fix parameter mismatch in SerialChains.cpp 2018-08-09 17:15:54 -07:00
Erwin Coumans
d6cf60ab83 Merge remote-tracking branch 'bp/master' 2018-08-09 16:48:55 -07:00
Jeongseok Lee
3627407041 Remove Lemke from SerialChains demo 2018-08-07 15:27:54 -07:00
Jeongseok Lee
48e5a3a9ed Cleanup SerialChains demo 2018-08-07 15:18:58 -07:00
Erwin Coumans
56e7333941 bump up pybullet version 2018-08-04 09:58:15 -07:00
Jeongseok Lee
89c6a83ae9 Add MLCP constraint solver for multibody 2018-08-02 22:53:30 -07:00
Jeongseok Lee
8b26945f8f Fix build errors with Clang 6 (also addresses #1510) 2018-07-18 12:02:36 -07:00
Jeongseok Lee
8857638ded Revert C++ code changes to make the PR small 2018-07-18 11:57:34 -07:00
Jeongseok Lee
6323309f89 Fix c++11-narrowing errors in multibody examples 2018-07-10 09:22:41 -07:00
Erwin Coumans
b23cb1dd2c pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface 
(still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
 2017-06-03 10:57:56 -07:00
yunfeibai
e6d1a8cf97 Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll. 2017-06-01 15:30:37 -07:00
Erwin Coumans
c0c4c8ba3f fix many warnings 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
 2017-01-15 22:26:11 -08:00
erwin coumans
d1ab6c144b change some defaults in MultiBody example, a slider constraint without limits is a bad idea 2016-10-16 11:52:38 -07:00
Erwin Coumans
ecd814c9c5 export contact friction/damping through URDF and API 
convert from contact friction/damping to cfm/erp
btCollisionObject::setContactFrictionAndDamping
 2016-09-02 16:40:56 -07:00
yunfeibai
c26da8440d Add slider constraint. 2016-08-25 11:54:59 -07:00
yunfeibai
9c4cfde3d6 Fixed constraint for btMultiBody and btRigidBody. 2016-08-15 13:19:00 -07:00
hujiajie
8c573177eb [Working In Progress] Suppress compiler warnings. 
Suppress several warnings about unused variables.
 2016-07-10 23:18:03 +08:00
Erwin Coumans
7e4dfb7207 remove SimpleOpenGL3 demo, it breaks some builds 
reset callback to 0 after exiting a demo to avoid issues
 2016-03-17 16:11:53 -07:00
erwin coumans
6c9bfce975 Support btMultiBody soft contact using ERP and CFM. Also support custom relaxation parameter to allow successive over relaxation. 
Added demos for rigid and multi body soft (compliant) contact.
Will also add simplified Hertz compliant contact, by dynamically modifying the ERP/CFM to mimic a non-linear spring.
Note that btManifoldPoint is growing too big, we need to implement proper contact constraints derived from btTypedConstraint.
 2016-02-22 18:40:00 -08:00
Erwin Coumans
6bc3f94f52 add a Pendulum example that is also used as unit test. 
Gold data is created by numerically solving a second-order non-linear differential equation.
(see examples/MultiBody/pendulum_gold.h)
 2016-01-06 18:08:49 -08:00
Erwin Coumans
3dfebe0c45 show inverse dynamics demo to use floating base 2015-12-02 09:33:12 -08:00
erwincoumans
ad29d27700 add initial inverse dynamics example skeleton, with urdf and programmatically created btMultiBody. 
disabled in Bullet/examples/ExampleBrowser/ExampleEntries.cpp
 2015-11-13 10:37:43 -08:00
erwincoumans
2920d7e61f Only support btMultiBody multi-dof version (remove non-multi-dof path) 
Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
 2015-11-05 21:17:46 -08:00
erwincoumans
081a40d254 initial implementation to send debug lines from physics server to client, 
need to add streaming because memory is too small to store all lines
initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
 2015-08-19 22:51:16 -07:00
Erwin Coumans
26531f3fbc fix some warnings, disable gimpact by default in world importer, 
use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now,
until we find the issue with some failing test cases in btMultiBody
fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable)
disable excessive debug printf in URDF2Bullet
 2015-07-27 13:28:47 -07:00
erwincoumans
68b53feb9c add Inverted Pendulum example with PD control 2015-07-16 23:58:36 -07:00
erwincoumans
f6f76901fd First draft of btMultiBody serialization, including optional names for base, link and joints (see ImportURDFDemo/ImportURDFSetup.cpp how this is done) 
Bump up version number to 2.84 because of new serialization data.
 2015-07-09 17:36:00 -07:00
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272ffeb232 add example for btMultiBody constraint and joint feedback 2015-07-07 08:32:02 -07:00
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3431773800 expose btMultiBodyConstraint applied impulse (force) on its degree of freedom(s), 
only tested for btMultiBodyJointMotor for now.
See also MultiBody/MultiBodyConstraintFeedback example
 2015-07-06 23:00:46 -07:00
erwin coumans
3b4ad1cd5a add the option to shift the applied force/torque for a multibody joint (mobilizer) to the joint frame origin 2015-06-25 15:09:35 -07:00
Erwin Coumans
d830681674 add option for rigid body/typed constraint to set target velocity 
compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
 2015-06-24 23:19:00 -07:00
erwin coumans
b14afba350 more work-in-progress on joint-torque sensor sample and server/client shared memory API 2015-06-22 15:30:57 -07:00
erwincoumans
89edc40d61 First step in btMultiBody joint force/torque feedback. There is still some work to be done for 'mobilizer limit/motor'. 
See examples/MultiBody/TestJointTorqueSetup and examples/Constraints/TestHingeTorque for joint feedback.
 2015-06-19 09:18:27 -07:00
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41aa58560b add TestHingeTorque example using btRigidBody and btHingeConstraint, setup is similar to TestJointTorque using btMultiBody and a revolute joint. 2015-06-15 23:12:29 -07:00
erwincoumans
218e9f9bf9 enable URDF loading throught the 'File/Open' menu 
set a default camera targets for each demo. note that it is only reset when switching to a different demo, so you can restart at your chosen location.
no OpenCL pairbench drawing in OpenGL2 (there is no VBO available etc)
 2015-05-01 11:42:14 -07:00
Erwin Coumans
fcb841018a remove 'Custom' multi body demo, it has no point on its own 2015-04-29 15:02:12 -07:00
erwin coumans
f9b8120e5d set upaxis for all demos (either Y/1 or Z/2) 2015-04-29 14:02:50 -07:00
erwin coumans
40375983d6 rename ExampleInterface -> CommonExampleInterface to be a little bit more consistent in 'CommonInterfaces' naming 2015-04-29 13:33:26 -07:00
erwin coumans
05bf86d95f added LICENSE.txt and AUTHORS.txt file 
add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures.
add btMultiBody::setBaseWorldTransform method
todo: fix cmake build, this patch is premake only
 2015-04-23 15:41:17 -07:00