erwin coumans
4ab02a07e5
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2016-09-08 15:22:41 -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
erwincoumans
ba2f522e05
Update BulletUrdfImporter.cpp
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use free (and not delete), since b3ImportMeshUtility/stbi_load uses malloc (and not new)
2016-09-07 16:02:16 -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
Mat Kelcey
9369f9b764
fix error msg when loading sdfs
2016-07-20 10:24:34 -07:00
Erwin Coumans
589fa376b3
only add compound child shapes to 'allocated' list once
2016-07-16 17:58:06 -07:00
Erwin Coumans
e2bdd7dbb1
fix more memory leaks, ImportURDFExample is now leak-free
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eliminate all run-time memory allocation (except for mouse-pick/ray-intersection) in ImportURDFExample
2016-07-16 17:40:44 -07:00
Erwin Coumans
bbefc6b108
fix an issue in previous commit
2016-07-16 01:11:53 -07:00
erwin coumans
f9762d63ab
Removed many memoryleaks in Example Browser, reducing some technical debt.
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When running the Example Browser with Basic Example, 'visual leak detector' show no leak.
Many other individual examples still leak, so it is work-in-progress.
Disabled the profiler window (too many leaks)
2016-07-16 00:55:56 -07:00
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
erwin coumans
60d2b99151
Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary)
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Improve rendering performance. OpenVR experience is smooth now.
commit needs a bit more testing before pushing in main repo.
2016-07-07 19:24:44 -07:00
Erwin Coumans
e3b2b1a969
add texture support in SDF, URDF for both OpenGL and software renderer (TinyRenderer)
2016-06-18 18:02:20 -07:00
erwin coumans
0b69ba7f61
Support the <static> field under <model> in SDF to make the model immovable, similar to setting the mass to zero.
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Add joint velocity motors in ImportSDF example.
2016-06-02 18:04:22 -07:00
erwin coumans
f469a2cb49
update to tinyrenderer synthetic camera
2016-05-31 22:55:13 -07:00
Erwin Coumans
b1adc0d9ef
avoid API change in URDFImporterInterface
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fix .obj texture loading issue
2016-05-24 09:01:03 -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
yunfeibai
7929bee128
parse root transformation and test loading two robots
2016-05-11 15:52:50 -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
erwin coumans
0a3efbe349
make standalone versions (console, tinyrender, opengl) of InverseDynamics/InverseDynamicsExample
2016-05-06 13:57:48 -07:00
Erwin Coumans
476eb342ab
fix scaling in URDF importer
2016-04-18 17:41:54 -07:00
Erwin Coumans
f3c7f30684
fix some memory leaks in ImportURDF / PhysicsServerCommandProcessor
2016-04-11 16:42:02 -07:00
erwincoumans
fe92de3e50
add infrastructure float btMultiBodyLink m_jointDamping, m_jointFriction (actual damping/friction is in a separate commit)
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add door.urdf for testing damping/friction
2016-03-17 14:54:46 -07:00
Erwin Coumans
aa3daaa8c6
turn test/SharedMemory/test.c into a gtest for CI unit testing in github
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remove overly verbose printfs in importers
fix axis in r2d2.urdf
2016-03-15 22:47:53 -07:00
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
=
2257ec05ad
don't compensate for COLLADA up axis in collision element for now
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(todo: let user override COLLADA up axis, some URDF files are inconsistent)
2015-09-10 17:36:19 -07:00
Erwin Coumans
7f4beba7ee
add forceFixedBase option for URDF import example
2015-07-07 15:39:36 -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
erwincoumans
e7bafbc71c
make Bullet URDF parser more similar to the ROS URDF parser. There is still a difference in ordering of links,
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due to the use of different hash-map implementations, with a difference in iterator order
(btHashMap versus std::hashmap)
2015-06-29 21:30:44 -07:00
Erwin Coumans
3fbe9f63ef
more case-sensitivity fixes
2015-06-28 22:12:59 -07:00
Erwin Coumans
039174a809
add alternative URDF parser that doens't use ROS urdf
2015-06-28 14:09:21 -07:00
