yunfeibai
b07df4d504
Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example.
2016-10-17 13:01:04 -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
yunfeibai
27fab2adb5
Create a demo for one motor gripper grasp.
2016-09-21 12:08:03 -07:00
erwincoumans
a370c3bbac
Merge pull request #765 from YunfeiBai/master
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Torsional and rolling friction for btMultiBody
2016-09-01 14:57:46 -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
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
Benjamin Ellenberger
4622ab4299
Merge commit.
2016-07-31 16:22:50 +02:00
Erwin Coumans
8270096fad
add GripperGraspExample, separate from R2D2GraspExample
2016-07-25 12:30:47 -07:00
Erwin Coumans
6b0ceace7f
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2016-07-25 11:49:56 -07:00
Erwin Coumans
a6216f4f24
add robotics learning grasp contact example
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add wsg50 gripper with modified r2d2 gripper tip
expose a fudge factor to scale inertia, to make grasping more stable
(until we have better grasping contact model/implementation)
2016-07-25 11:48:44 -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
fcc9d4ebcb
fix SIMD/16-byte alignment issue causing issue in one of the old benchmarks
2016-07-16 22:33:15 -07:00
erwin coumans
4a705d1e03
Add kiva_shelf to prepare for picking/grasping task
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Fix uninitialized variable jointDamping/jointFriction in SDF importer
Add SDF <pose> parsing in visual, inertial, collision elements.
Slight improvement in TinyRender loading performance of largish meshes (30k vertices)
Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is.
b3RobotSimAPI support SDF file loading
Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures
2016-07-14 00:05:57 -07:00
Benjamin Ellenberger
b73bcead4b
Merge remote-tracking branch 'upstream/master
2016-07-11 23:31:49 +02:00
Benjamin Ellenberger
ed13cc6c26
Add a slider to displace pendula via GUI.
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------------------------------------------------
The slider applies the selected displacement force according to the chosen scalar and falls back to zero when moved below an absolute value of 0.2.
2016-07-11 23:07:48 +02:00
erwin coumans
7633cfb800
prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h
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prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)
2016-07-11 00:26:40 -07:00
Benjamin Ellenberger
74aba8b8fd
Correct the build files and fix the name of the create method in header
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file.
2016-07-04 19:17:50 +02:00
Benjamin Ellenberger
2bf17a7a81
Initial commit.
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------------
Simplifying the walker generation code and making it more understandable
SQUASH THIS LATER.
2016-07-01 19:35:27 +02:00
Benjamin Ellenberger
50b6003470
Merge remote-tracking branch 'upstream/master'
2016-06-27 15:14:47 +02:00
Benjamin Ellenberger
e16082a7cd
Refactor Newton's Cradle. Implement Newton's Cradle with Softbody ropes.
2016-06-27 15:14:36 +02:00
Benjamin Ellenberger
9872d2b20f
Create InclinedPlane,Newton's Cradle and Multi-Pendulum examples for the Bullet Example Browser.
2016-06-04 12:09:37 +02:00
Benjamin Ellenberger
dfb2c51dc7
Merge remote-tracking branch 'upstream/master'
2016-06-04 11:36:43 +02:00
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
7994a339ee
disable RTC update for Physics Server by default
2016-05-18 16:21:40 -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
Benjamin Ellenberger
79be214d08
Merge resolve.
2016-05-15 14:19:01 +02:00
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
e9c6abff47
add initial SDF importer, work-in-progress (still too incomplete to be useful)
2016-05-09 17:25:07 -07:00
erwincoumans
8a68e27bb7
move the RigidBodyFromObj to Importers section.
2016-05-07 16:36:14 -07:00
erwincoumans
5151519b94
https://github.com/bulletphysics/bullet3/pull/618 by Mobeen
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Summary of changes:
1) Changed include paths to be relative to the current sources (affected
files: LoadMeshFromObj.cpp, Wavefront2GLInstanceGraphicsShape.h/cpp)
2) Added new tutorials in the ExtendedTutorials folder
3) Modified the main_opengl_single_example.cpp file to enable picking
support in standalone demos
2016-05-06 15:07:54 -07:00
Erwin Coumans
b0a4e126bf
use cmake FIND_PACKAGE(PythonLibs 2.7 REQUIRED) if pybullet is build
2016-05-04 13:24:06 -07:00
Erwin Coumans
938db633df
fixes in build system
2016-05-03 23:34:48 -07:00
Erwin Coumans
d8da00aa35
re-enable Wavefront .obj loader
2016-04-23 11:06:34 -07:00
Erwin Coumans
d70132a901
only enable Wavefront obj support for URDF when ENABLE_URDF_OBJ is defined.
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add destructor for SampleJob1
2016-03-01 09:15:55 -08:00
erwin coumans
6c9bfce975
Support btMultiBody soft contact using ERP and CFM. Also support custom relaxation parameter to allow successive over relaxation.
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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.
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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
03cc4f0554
add InverseDynamics example for example browser
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add CMake support for BulletInverseDynamics and BulletInverseDynamicsUtils
2015-11-24 11:12:02 -08:00
erwincoumans
ad29d27700
add initial inverse dynamics example skeleton, with urdf and programmatically created btMultiBody.
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disabled in Bullet/examples/ExampleBrowser/ExampleEntries.cpp
2015-11-13 10:37:43 -08:00
erwin coumans
c68c215ead
add rudimentary command logging for shared memory physics server
2015-10-30 10:30:48 -07:00
erwin coumans
dc81e31e74
upload work-in-progress Collision example using C-API.
2015-10-28 11:48:36 -07:00
erwin coumans
3d9218e07d
Add plane shape and profile timing support in examples/Collide
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Use View/Profiler in example browser, in optimized build/Release mode
and look for plCollideWorld
2015-10-20 18:30:43 -07:00
Erwin Coumans
3d3830962a
add a few collision examples to test a C API with various back-ends
2015-10-17 13:44:00 -07:00
=
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
erwin coumans
faab737738
add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API
2015-08-24 15:26:29 -07:00
Erwin Coumans
74fda9ff85
simple multi threading test
2015-08-21 15:18:18 -07:00
erwincoumans
081a40d254
initial implementation to send debug lines from physics server to client,
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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
f89d587a02
update tutorial for SIGGRAPH course
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allow multiple graphing windows at the same time
2015-08-10 14:30:00 -07:00
erwincoumans
de4dcdbb18
more tutorial work
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add fixed_timestep command-line parameter, 0 means disabled (variable timestep)
2015-08-07 14:18:57 -07:00
erwin coumans
6d8ad72d68
add Tutorial.cpp files
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load textured sphere8.obj by default as a test
tiny_obj_loader don't crash when mtl is not found
fix camera perspectives for some examples
2015-08-05 19:22:48 -07:00
erwin coumans
a5669d2ffd
add a textured sphere8.obj test with obj loader
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fix shaders, so that shadowed and non-shadowed are matching
fix registerGraphicsUnitSphereShape API (level of detail), support textured sphere too
add support for textured cube
add start for a Tutorial.cpp
2015-08-05 19:03:27 -07:00
erwincoumans
68b53feb9c
add Inverted Pendulum example with PD control
2015-07-16 23:58:36 -07:00
erwin coumans
259bcb1989
mix physics client/server into a single example for easier/faster development of shared memory experiment
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add premake option to choose targetdir for binaries/libraries
add simple hinge.urdf file
2015-07-15 12:57:45 -07:00
Erwin Coumans
a6fa717dac
add very simple (rudimentary) time series graphing example
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tweak camera near plane distance, less sensitive mouse wheel
2015-07-15 09:07:47 -07:00
erwin coumans
54a76f6e0c
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code.
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(as usual, work-in-progress)
2015-07-14 15:30:17 -07:00
=
a7fc45410b
enable addition of examples at run-time
2015-07-12 14:58:31 -07:00
=
3431773800
expose btMultiBodyConstraint applied impulse (force) on its degree of freedom(s),
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only tested for btMultiBodyJointMotor for now.
See also MultiBody/MultiBodyConstraintFeedback example
2015-07-06 23:00:46 -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
=
82576d0bee
added preliminary shared memory physics client/server
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fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 16:05:24 -07:00
Erwin Coumans
91252db59a
fix Lua example
2015-05-13 16:27:58 -07:00
Erwin Coumans
82f81e16f3
fix Yosemite build
2015-05-07 11:44:16 -07:00
Erwin Coumans
0da584a42d
allow to compile and run the ExampleBrowser on older Mac OSX versions (without OpenGL3)
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using the 'NO_OPENGL3' preprocessor definition
both premake/cmake has support for this now
needs some testing
2015-05-06 10:35:14 -07:00
Erwin Coumans
184a0013b4
add RollingFrictionDemo
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tweak benchmark demo camera
2015-05-03 11:45:30 -07:00
Erwin Coumans
8ee491abfa
converted DynamicControlDemo/MotorDemo
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set default camera position for benchmarks, fracturedemo
2015-05-03 10:46:22 -07:00
Erwin Coumans
7288313970
converted FractureDemo
2015-05-03 10:01:30 -07:00
Erwin Coumans
7a0288bf56
fix issue with btDbvt::collideOCL, related to memmove (needs further testing)
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only enable OpenCL demo if flag --enable_experimental_opencl is passed to ExampleBrowser
2015-05-02 22:33:33 -07:00
erwincoumans
01d14f538a
fix some out-of-bounds error in the OpenCL rigid body pipeline
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re-enable an OpenCL/gpu rigid body example (box-box stack)
2015-05-01 21:34:27 -07:00
erwincoumans
d7c7fdf517
fix build issue when OpenCL (B3_USE_CLEW) is not enabled
2015-05-01 14:32:39 -07:00
erwincoumans
218e9f9bf9
enable URDF loading throught the 'File/Open' menu
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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
erwincoumans
aad9a5a396
add OpenCL PairBench (missing GUI, so not really useful)
2015-05-01 00:18:49 -07:00
Erwin Coumans
aec360f158
add Raycast demo
2015-04-30 15:31:44 -07:00
Erwin Coumans
c95fe654ad
add example to import and export a binary .bullet file
2015-04-30 14:03:50 -07:00
Erwin Coumans
9d3f8803b8
add Stan Melax' ImplicitCloth demo
2015-04-30 13:36:39 -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
40375983d6
rename ExampleInterface -> CommonExampleInterface to be a little bit more consistent in 'CommonInterfaces' naming
2015-04-29 13:33:26 -07:00
erwin coumans
f4b0cc85cd
add Vehicles/Hinge2Vehicle demo, based on the ForkLift demo, using btHinge2Constraint with rigid body wheels
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change btHinge2Constraint to derive from new btGeneric6DofSpring2Constraint
2015-04-28 18:12:49 -07:00
Erwin Coumans
df86a69a71
fix Mac OSX build, minor addition in example descriptions
2015-04-27 20:58:01 -07:00
erwin coumans
27227e5e4a
add SoftDemo examples
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add example description for all examples (with word-wrap)
add the VoronoiFractureDemo, note that the collision are disabled after breaking constraints.
add optional GwenOpenGLTest, to make it easier to see Gwen user interface features.
2015-04-27 18:35:07 -07:00
erwin coumans
05bf86d95f
added LICENSE.txt and AUTHORS.txt file
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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
erwin coumans
51938d642e
prepare for 'custom' multi body creation.
2015-04-22 18:09:00 -07:00
erwin coumans
f2aef6b73e
add additional demos/examples for MultiBody and Constraints
2015-04-22 13:02:27 -07:00
erwincoumans
ad8f705bcb
more cmake support for examples
2015-04-16 22:14:27 -07:00
erwincoumans
a1bf9c5556
add initial examples, replacing the 'Demos/Demos3'. Will make it work cross-platform, OpenGL3/OpenGL2 and add more examples to it.
2015-04-16 09:55:32 -07:00
