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Author SHA1 Message Date
erwincoumans
8764357fa8 Merge pull request #570 from erwincoumans/master 
re-quantize for before using the data in quantize method
 2016-02-24 18:22:31 -08:00
Erwin Coumans
25409f93c7 re-quantize for before using the data in quantize method 
this fixes issue 558
 2016-02-23 08:46:09 -08:00
erwincoumans
3d95133ed1 Merge pull request #568 from erwincoumans/master 
allow soft (compliant) contact for btRigidBody and btMultiBody using ERP/CFM.
 2016-02-23 08:38:09 -08:00
erwincoumans
d196cec51f Update RigidBodySoftContact.cpp 
fix typo
 2016-02-23 08:02:28 -08:00
erwin coumans
6c9bfce975 Support btMultiBody soft contact using ERP and CFM. Also support custom relaxation parameter to allow successive over relaxation. 
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
a3154f7a56 use b3ConnectSharedMemory in PhysicsClient example, instead of b3ConnectPhysicsLoopback 2016-01-27 13:36:33 -08:00
erwin coumans
645a88176d Enable softness for btRigidBody contacts. This is implemented by some value (CFM, constraint force mixing) to the main diagonal of A. 
CFM for contacts use world CFM value by default, and can override with custom CFM value using the
BT_CONTACT_FLAG_HAS_CONTACT_CFM stored in m_contactPointFlags.
Boolean m_lateralFrictionInitialized is replaced 'BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED' flag stored in int m_contactPointFlags in btManifoldPoint.
Enable successive over-relaxation parameter (SOR) for contacts. btMLCPSolver uses global CFM.
In one of the next commits, contact softness will be enabled btMultiBody contacts.
Also need to review use of CFM in btMLCPSolvers (only world CFM is used at the moment)
 2016-01-22 17:43:36 -08:00
erwincoumans
2fb92bc40c Merge pull request #557 from erwincoumans/master 
add a Pendulum example that is also used as unit test.
 2016-01-08 14:36:41 -08:00
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
erwincoumans
e136c29a5a Merge pull request #551 from erwincoumans/master 
fixes in test/SharedMemory
 2015-12-15 14:00:57 -08:00
Erwin Coumans
dabccd184d fixes in test/SharedMemory 2015-12-15 13:45:34 -08:00
erwincoumans
c52abafb89 Merge pull request #549 from erwincoumans/master 
minor cmake fixes for Linux related to X11/OpenGL headers
 2015-12-08 14:29:28 -08:00
Erwin Coumans
46ddfa39d7 remove unused function in btRigidBody (btSetCrossMatrixMinus) 
thanks to Stefan for reporting.
 2015-12-08 07:54:19 -08:00
Erwin Coumans
52f074bcb2 Merge remote-tracking branch 'bp/master' 
Conflicts:
	examples/ExampleBrowser/CMakeLists.txt
	examples/OpenGLWindow/CMakeLists.txt
 2015-12-07 16:42:45 -08:00
Erwin Coumans
13f314f401 allow CMake to build on Linux without X11/OpenGL system headers (use local one) 2015-12-07 16:38:43 -08:00
erwincoumans
ab283251d3 Merge pull request #546 from erwincoumans/master 
typo fixes in InverseDynamicsExample
 2015-12-07 15:07:24 -08:00
erwincoumans
83c560262b Merge pull request #548 from AndrewMeadows/fix-cmake-whitespace 
fix whitespace formatting in cmake files
 2015-12-07 15:06:59 -08:00
erwincoumans
4894cb3a38 Merge pull request #547 from AndrewMeadows/fix-cmake-sans-bullet3 
fix cmake to succeed with -DBUILD_BULLET3=0
 2015-12-07 15:06:32 -08:00
Andrew Meadows
c0c1691c25 fix whitespace formatting in cmake files 2015-12-07 14:08:04 -08:00
Andrew Meadows
c3460a6d48 fix whitespace formatting 2015-12-07 13:49:29 -08:00
Andrew Meadows
a860fff3ad fix cmake to succeed with -DBUILD_BULLET3=0 2015-12-07 13:43:17 -08:00
Erwin Coumans
433a7aa9b6 fix C++11 issue 2015-12-07 11:44:43 -08:00
Erwin Coumans
acbf60ddfd typo fixes in InverseDynamicsExample 2015-12-05 09:02:02 -08:00
erwincoumans
aaf4e1acfa Merge pull request #491 from nicokruithof/master 
Fixed missing include directories
 2015-12-04 21:49:47 -08:00
erwincoumans
6c67426b6d Merge pull request #544 from AndrewMeadows/premake-cleanup 
cleanup main premake script
 2015-12-04 08:45:56 -08:00
Andrew Meadows
e66be7a7ef replaced spaced indentation with tabs 2015-12-03 22:00:52 -08:00
Andrew Meadows
b8f72ee56b fix bad --no-extras option for InverseDynamcis 2015-12-03 20:52:28 -08:00
Andrew Meadows
1c30453ae4 adding forgotten --no-extras build option 2015-12-03 20:49:31 -08:00
Andrew Meadows
d8b7d12707 combine checks for "ios" premake option 
The "ios" option now only makes sense when action is "xcode"
 2015-12-03 20:39:29 -08:00
Andrew Meadows
f385bffffb cleanup main premake script 
added premake options:
  --no-demos
  --no-test
  --no-bullet3
 2015-12-03 18:58:10 -08:00
erwincoumans
01c4720d62 Merge pull request #543 from erwincoumans/master 
remove dependency on gflags, C++11 in test_invdyn_bullet
 2015-12-03 09:16:44 -08:00
Erwin Coumans
b22e968cdd re-enable inverse dynamics/computed torque, instead of PD control in InverseDynamicsExample 2015-12-02 23:16:41 -08:00
Erwin Coumans
332017ff23 remove dependency on gflags, C++11 from test_invdyn_bullet.cpp 
add support for premake for test_invdyn_bullet
 2015-12-02 17:49:25 -08:00
erwincoumans
88d504d946 Merge pull request #542 from erwincoumans/master 
show inverse dynamics demo to use floating base
 2015-12-02 10:08:46 -08:00
Erwin Coumans
3dfebe0c45 show inverse dynamics demo to use floating base 2015-12-02 09:33:12 -08:00
erwincoumans
7d49b65939 Merge pull request #538 from erwincoumans/master 
add BT_DECLARE_ALIGNED_ALLOCATOR() for btTypedConstraint
 2015-12-01 18:58:31 -08:00
Erwin Coumans
5da9e37a05 add BT_DECLARE_ALIGNED_ALLOCATOR() for btTypedConstraint 2015-11-26 12:43:10 -08:00
erwincoumans
0f8d94b3ef Merge pull request #536 from erwincoumans/master 
joint trajectory curves use different colors for each DOF
 2015-11-26 11:06:45 -08:00
Erwin Coumans
4c88681479 joint trajectory curves use different colors for each DOF 
use fewer notch counts in slider GUI
 2015-11-26 10:45:51 -08:00
erwincoumans
346308120a Merge pull request #535 from erwincoumans/master 
add collision and inverse dynamics unit tests to cmake, .travis.yml a…
 2015-11-24 18:06:18 -08:00
erwincoumans
0e247264ff use BT_ID_MAX as std::max is not portable (older Visual Studio versions break) 2015-11-24 17:34:43 -08:00
erwincoumans
ff74884f9f more appveyor fun 2015-11-24 17:15:35 -08:00
erwincoumans
d8ee7e4dbc attempt to fix appveyor.yml (both build project for premake4 and build_script for cmake, does that work? 2015-11-24 17:13:58 -08:00
erwincoumans
1826f11fbc add pthread dependency for gtest-based tests for non-Windows platforms 2015-11-24 16:54:04 -08:00
erwincoumans
4c3d32bf48 tab->space 2015-11-24 16:15:23 -08:00
erwincoumans
e387baf213 add collision and inverse dynamics unit tests to cmake, .travis.yml and appveyor.yml 
(more unit tests will follow, once this setup works)
 2015-11-24 16:13:21 -08:00
erwincoumans
a14a695bc7 Merge pull request #534 from erwincoumans/master 
fix shared lib build
 2015-11-24 12:32:14 -08:00
Erwin Coumans
4205e976f6 another fix for dynamic libs of BulletInverseDynamicsUtils 2015-11-24 12:20:59 -08:00
Erwin Coumans
1f4148d322 fix shared lib build 2015-11-24 12:05:50 -08:00
erwincoumans
22e8dc9911 Merge pull request #533 from erwincoumans/master 
fix example issues
 2015-11-24 11:50:08 -08:00