AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-13 05:10:08 +00:00
Code Issues Releases Wiki Activity
3,963 Commits 19 Branches 27 Tags 326 MiB
5cb97baba0
Commit Graph

77 Commits

Author SHA1 Message Date
Erwin Coumans
5cb97baba0 add husky, quadcopter and plane 100x100 meter urdf files, 
to prepare for a bit of robotics, machine learning and VR fun
 2016-07-16 23:14:16 -07:00
Erwin Coumans
2caa2b7ff4 removed more memory leaks and improve btAlignedAllocator memory-leak debugging 2016-07-16 14:58:11 -07:00
erwin coumans
4a705d1e03 Add kiva_shelf to prepare for picking/grasping task 
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
erwin coumans
7633cfb800 prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h 
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) 
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
26f6618f00 colors for sdf 2016-06-17 12:07:38 -07:00
erwin coumans
4b2c0f6d89 make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF 
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
5bf125cab5 fix some compile issues using premake 
use textured cube/sphere model for test
 2016-06-02 13:54:52 -07:00
Erwin Coumans
b1adc0d9ef avoid API change in URDFImporterInterface 
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. 
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
Erwin Coumans
c2a5b08e35 add a few test files for TinyRenderer software renderer 2016-05-18 17:58:44 -07:00
erwin coumans
606f78da43 work-in-progress tinyrenderer -> shared memory API synthetic camera image 2016-05-17 23:57:19 -07:00
Erwin Coumans
876c9e57fe fixes 2016-05-13 22:57:41 -07:00
yunfeibai
7929bee128 parse root transformation and test loading two robots 2016-05-11 15:52:50 -07:00
yunfeibai
06a2669b32 test load kuka arm sdf 2016-05-11 13:43:50 -07:00
yunfeibai
1bebcc6d9a Merge remote-tracking branch 'upstream/master' 2016-05-10 10:18:27 -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
fb65c29033 use "world" to make door static (instead of using mass = 0) 
minor improvements to pybullet
 2016-05-03 12:59:21 -07:00
erwin coumans
40841e9078 revert floor.obj test file, load it by default in TinyRenderer/main.cpp 2016-04-26 21:01:46 -07:00
erwin coumans
03bdcc8737 patch TinyRenderer so it software-renders in an OpenGL texture, for testing 
fix texture support: flip texture to make OpenGL happy (lower-left is origin)
add path prefix to .obj loader, so materials/textures are loaded ok.
 2016-04-26 20:52:52 -07:00
Erwin Coumans
778ce5296d add example of rendering a cube in SimpleOpenGL3 2016-04-25 13:21:56 -07:00
yunfeibai
cbeddfc897 Modify shared memory client example to test joint motor torque measurement. 2016-04-19 16:52:47 -07:00
Erwin Coumans
59b32b7af1 re-enable command log and playback in physics server 
report applied motor torque in physics server
 2016-04-08 18:17:17 -07:00
Erwin Coumans
643cf5ab1d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-03-17 16:12:48 -07:00
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
erwincoumans
fe92de3e50 add infrastructure float btMultiBodyLink m_jointDamping, m_jointFriction (actual damping/friction is in a separate commit) 
add door.urdf for testing damping/friction
 2016-03-17 14:54:46 -07:00
Erwin Coumans
6c9815c8f9 fix axis in r2d2.urdf 
enable SimpleOpenGL3 demo for CMake
 2016-03-16 08:13:53 -07:00
Erwin Coumans
aa3daaa8c6 turn test/SharedMemory/test.c into a gtest for CI unit testing in github 
remove overly verbose printfs in importers
fix axis in r2d2.urdf
 2016-03-15 22:47:53 -07:00
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
433a7aa9b6 fix C++11 issue 2015-12-07 11:44:43 -08:00
Erwin Coumans
03cc4f0554 add InverseDynamics example for example browser 
add CMake support for BulletInverseDynamics and BulletInverseDynamicsUtils
 2015-11-24 11:12:02 -08:00
Erwin Coumans
163b797d8b Update to ZLib license for GWEN files. 
Note that our copy of GWEN is modified and GWEN is not under active development anymore.
We plan to integrate and modify GWEN further into the Bullet Example Browser or rewrite the GUI and drop GWEN

fix cube.obj and cube.mtl to enable textures
 2015-10-25 11:30:34 -07:00
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
=
89765ceccf update kuka urdf 2015-08-19 16:05:32 -07:00
Erwin Coumans
f89d587a02 update tutorial for SIGGRAPH course 
allow multiple graphing windows at the same time
 2015-08-10 14:30:00 -07:00
Erwin Coumans
dcab0e2b1f use multibody by default when using FILE/Open URDF (instead of maximal coordinate rigid body+typed constraints) 2015-08-06 00:35:03 -07:00
erwin coumans
a5669d2ffd add a textured sphere8.obj test with obj loader 
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
Erwin Coumans
250068d5eb re-enable enter key in example browser 2015-08-04 22:03:53 -07:00
=
eb6663ed4b further work on shared memory API 
fix dependency of BulletDynamics to Bullet3Common (b3Printf)
 2015-08-02 14:00:43 -07:00
Erwin Coumans
346bc00ac7 add kuka_lwr urdf file for testing, the r2d2 gets boring 2015-07-23 18:36:46 -07:00
Erwin Coumans
2de1f29995 add xacro_standalone.py tool, to convert a urdf.xacro to urdf 
It has no dependencies, except for a python installation
 2015-07-21 12:42:46 -07:00
Erwin Coumans
26e175013d add prismatic.urdf test file and revert to r2d2.urdf in import example 2015-07-15 17:51:49 -07:00
erwin coumans
259bcb1989 mix physics client/server into a single example for easier/faster development of shared memory experiment 
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 
tweak camera near plane distance, less sensitive mouse wheel
 2015-07-15 09:07:47 -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
erwincoumans
285ac286fa some work towards streaming Bullet data over shared memory for client/server 2015-07-09 14:04:58 -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
c9a630e7c6 rename loadUrdf -> loadMultiBodyFromUrdf in lua script 
remove unused m_usrd2mblink
 2015-05-14 09:16:13 -07:00
erwin
e196ed1edb load a urdf in the lua script test 2015-05-13 21:54:00 -07:00