yunfeibai
9c4cfde3d6
Fixed constraint for btMultiBody and btRigidBody.
2016-08-15 13:19:00 -07:00
hujiajie
8c573177eb
[Working In Progress] Suppress compiler warnings.
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Suppress several warnings about unused variables.
2016-07-10 23:18:03 +08:00
Erwin Coumans
7e4dfb7207
remove SimpleOpenGL3 demo, it breaks some builds
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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.
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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
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.
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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)
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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,
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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
26531f3fbc
fix some warnings, disable gimpact by default in world importer,
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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)
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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),
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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
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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'.
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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
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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
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
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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
