erwincoumans
9be978337f
quick draft implementation for SharedMemoryInProcessPhysicsC_API
2016-03-07 14:56:16 -08:00
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
bd4c4eb3c5
rename API->Api
2015-11-22 21:32:20 -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
7ef06d532e
remove debug test
2015-11-05 17:35:05 -08:00
Erwin Coumans
2317307a22
Add b3GetStatusActualState() to C_API.
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Change pick-and-move C_API to use handlers
2015-11-04 16:08:28 -08:00
erwincoumans
d6464ce40d
add 'replay' command log feature: no mouse interaction during replay, and use a fixed number of sim steps in stepSimulation.
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workaround for reversed separating normal in gjk/epa when using very small shapes, detect case and revert normal.
use smaller world size (10 units versus 100) for higher resolution shadow map
use a hard-coded rolling friction of 0.2 for objects in physics server (will make this configurable)
fix loading of command log files, when platform features are different (64bit/32bit)
2015-11-01 12:48:15 -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
c68c215ead
add rudimentary command logging for shared memory physics server
2015-10-30 10:30:48 -07:00
erwin coumans
819c4f1951
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2015-10-29 11:26:01 -07:00
erwin coumans
f7bbbd88e6
preparation for CommandLogging for PhysicsServer.
2015-10-29 11:25:50 -07:00
erwin coumans
9442791cf1
Fix PhysicsServer connection issue, in cases where shared memory was not properly shut down.
2015-10-29 11:18:26 -07:00
erwincoumans
650189d50b
Allow both remote debug drawer and local debug drawer for PhysicsServer (shared memory etc)
2015-10-29 08:28:49 -07:00
Erwin Coumans
6a6c0297fe
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2015-10-28 13:44:30 -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
erwincoumans
57f50f1778
Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory.
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Add a test for PhysicsLoopBack.
2015-10-26 17:56:21 -07:00
Erwin Coumans
ec1947bbbd
add SIM_PARAM_UPDATE_DELTA_TIME flag to fix setting the time step
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in shared memory API
2015-10-24 13:50:11 -07:00
Erwin Coumans
818037c011
Fix issue related to CMD_RESET_SIMULATION
2015-10-24 13:49:25 -07:00
Erwin Coumans
f28150c368
catch setting of invalid joint angles in PhysicsClientC_Api
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use the proper m_bodyUniqueIndex (todo: fix this field, move to shared command data)
2015-10-24 13:48:53 -07:00
Takuya NAKAOKA
3a11fff3ad
Fix slow simulation in PhysicsServerExample
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Removed maxSteps to regain simulation speed
2015-10-20 14:51:40 +09:00
Erwin Coumans
21b7a47129
although still not implemented, IMU enum had wrong value, thanks JF
2015-10-17 20:12:50 -07:00
Erwin Coumans
e5175cde9a
although still not implemented, IMU enum had wrong value, thanks JF
2015-10-17 18:52:48 -07:00
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bc09125095
fix include guard, thanks Aaron!
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fix uninitialized body index in PhysicsServer
2015-10-16 08:18:26 -07:00
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4df58c35c7
use const in PhysicsClientC_Api, thanks to Roland
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fix some warnings for Clang, thanks to Aaron
2015-10-15 08:15:22 -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
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5e4badc099
make PhysicsClient an interface class, and move shared memory implementation
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of physics client into PhysicsClientSharedMemory class/file.
This will allow implementation of UDP and other transport protocols to a physics server.
2015-09-24 22:50:34 -07:00
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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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23bdd0ed36
more work on physics client c-api over shared memory
2015-09-17 09:37:44 -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
erwincoumans
e4b5f4730d
Merge pull request #473 from takuyanakaoka/detach-shared-mem
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Detach posix shared memory correctly
2015-09-09 15:13:27 -07:00
Takuya NAKAOKA
4cbd86a058
Detach posix shared memory correctly
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* shmget() fails after shmctl() is called with IPC_RMID. This patch
removes shmget() in releaseSharedMemory so that a client can detach
a shared memory correctly after a server removed it.
* A server should also detach a shared memory.
2015-09-09 12:35:26 +09:00
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5be9119455
run the PhysicsServerExample 'stepSimulation' smoother
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fix a warning in ThirdParty/stb_image
fix an single/double precision issue in btPolyhedralContactClipping.cpp
2015-09-08 13:39:09 -07:00
erwin coumans
2909b5fae3
add picking to shared memory physics server
2015-09-04 11:28:08 -07:00
erwin coumans
f75df90d82
Allow batches of debug lines. The PhysicsClientExample rendering is still slow (one line at a time, instead of batches)
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Prepare for IMU sensor in Shared Memory Server
2015-09-03 14:18:22 -07:00
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5a0ca58436
fix force/torque feedback
2015-08-31 12:36:08 -07:00
Erwin Coumans (Google)
98c93a7330
fix inline, __inline for _WIN32
2015-08-27 18:13:54 -07:00
Erwin Coumans (Google)
3d130d9d66
reset simulation in test/SharedMemory/test for proper cleanup,
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and it can restart without shutting down/restarting physics server
w
2015-08-27 17:51:31 -07:00
Erwin Coumans
2e7949bb3e
fix some warnings
2015-08-26 15:26:53 -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
9ec08592b6
fix a copy/paste typo, thanks Roland!
2015-08-21 18:18:12 -07:00
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bbc450a3de
position/velocity control through constraint for shared memory server
2015-08-20 14:57:14 -07:00
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63873e2926
fix issue, cannot assume 16-byte alignment in shared memory,
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causing crashes when SIMD btVector3 is stored on Mac OSX.
2015-08-20 08:09:22 -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
erwincoumans
89c2a729ce
Improved simple TimeSeriesCanvas
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Fixes in RobotControlExample
Disable gravity by default in PhysicsServer
2015-08-07 13:17:33 -07:00
Erwin Coumans
03d991c92b
add command-line argument for example browser and shared memory app, --shared_memory_key=<int>
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fix some shared memory issues, client uses attach/detach, server uses create/remove shared memory
implement CMD_RESET_SIMULATION
2015-08-07 00:13:26 -07:00
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f750275cf9
fix _WIN32 build (there is no <err.h>)
2015-08-06 12:07:08 -07:00
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46fae61c69
fixes in shared memory:
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only allow server to create and initialize shared memory,
client will report failure
intercept signals to cleanup shared memory in standalone app, thanks to
Roland Philippsen.
2015-08-06 11:59:31 -07:00
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eb6663ed4b
further work on shared memory API
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fix dependency of BulletDynamics to Bullet3Common (b3Printf)
2015-08-02 14:00:43 -07:00
erwincoumans
19c5be5646
small progress towards shared memory C-api and test.c.
2015-07-30 23:22:44 -07:00
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3fe9138e8c
minor refactoring
2015-07-23 11:51:25 -07:00
erwin coumans
0fe6d343bc
move m_updateFlags to command, and make it 64bit
2015-07-23 10:51:09 -07:00
Erwin Coumans
812c67e221
fix various warnings, more work on shared memory API
2015-07-22 18:06:05 -07:00
Erwin Coumans
05fc203ec1
Separate SharedMemoryStatus from SharedMemoryCommand
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Added CMD_CMD_SEND_PHYSICS_SIMULATION_PARAMETERS (set gravity as example)
and CMD_INIT_POSE, not fully implemented yet.
2015-07-21 21:46:28 -07:00
Erwin Coumans
8e163c984d
allow to control of powered joints after loading a URDF file, through shared memory
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more refactor of shared memory joint control API
2015-07-20 23:35:29 -07:00
erwin coumans
b563c7c8ce
add additional example using server and client for future simple robot control of simulated robot
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(load urdf, get state, set desired state, step simulation)
Create SharedMemoryCommand and put that into the queue
move arrays for Q, Qdot etc into the command
2015-07-15 15:23:40 -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
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48f6484b3d
make OSX/Unix version of PosixSharedMemory work
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pass on useFixedBase to URDF loader in PhysicsServer
2015-07-14 16:23:01 -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
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482f31597b
implement preliminary CMD_SEND_DESIRED_STATE with CONTROL_MODE_VELOCITY and
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CONTROL_MODE_TORQUE.
2015-07-14 08:34:02 -07:00
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7452df0964
Pass initial position and orientation for CMD_LOAD_URDF. (public github commit)
2015-07-12 14:48:43 -07:00
erwincoumans
6c9ce344ea
fix shadowmap crash on some Intel GPUs, see https://github.com/bulletphysics/bullet3/issues/4
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remove targetdir from all libraries in premake, so it is much easier to create a separate folder for all binary+lib
transmit the serialized btMultiBody data back from server to client, after the server loads a URDF file. This includes base+link+joint names
tweak the serialization routines, so it is easier to skip pointers and to serialize directly to a shared memory buffer
also tweak the serialization code to allow to process data without 'DNA' schema data (assuming file-DNA = memory DNA)
2015-07-10 22:20:06 -07:00
erwincoumans
285ac286fa
some work towards streaming Bullet data over shared memory for client/server
2015-07-09 14:04:58 -07:00
Erwin Coumans (Google)
8517e85b21
fix various warning
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add b3ResourcePath utility, to locate resources relative to executable
2015-07-03 18:17:14 -07:00
Erwin Coumans
5d44d596ed
fix build system (case sensitive filename)
2015-06-28 22:00:03 -07:00
Erwin Coumans
f8add8bba0
fixes in build system for URDF parser
2015-06-28 21:21:57 -07:00
Erwin Coumans
039174a809
add alternative URDF parser that doens't use ROS urdf
2015-06-28 14:09:21 -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
Erwin Coumans
4688540a98
minor update for shared memory interface
2015-06-21 13:24:36 -07:00
erwin coumans
2d79dda032
prepare for joint/torque feedback. First for btRigidBody, then btMultiBody.
2015-06-09 18:13:05 -07:00
erwin coumans
2c3db1c631
Add a "add button" option in the CommonParameterInterface and implement it for Gwen.
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Add some buttons for shared memory requests in the PhysicsClient
2015-06-09 16:51:55 -07:00
erwin coumans
a94ac6300a
add Windows version of shared memory, very basic implementation (only allows one single allocation)
2015-06-04 15:37:18 -07:00
Erwin Coumans (Google)
190382e9ec
enable posix shared memory on non-Win32 platforms (Linux and Mac) for example browser
2015-05-30 20:32:29 -07:00
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c28afd2242
add missing files
2015-05-29 15:38:32 -07:00
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bc806ab68c
exit gracefully and call destructor of the current active example
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fflush after printf
implemented stepForward and Shutdown for the SharedMemory client/server
2015-05-29 15:04:05 -07:00
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6fedad9db7
fix SharedMemory premake file
2015-05-29 11:37:21 -07:00
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7abefca6f1
small improvement to the shared memory physics server/client
2015-05-28 17:49:55 -07:00
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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