erwin coumans
0936ae6600
expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world.
2016-09-27 12:13:45 -07:00
erwincoumans
85fd7f560c
add first draft of contact point query in shared memory API
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b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData);
Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet.
Add btCollisionObject::setUserIndex2
2016-09-01 13:30:07 -07:00
Erwin Coumans
95a09bec99
implement getJointInfo for objects loaded through SDF
2016-06-15 18:01:41 -07:00
erwin coumans
14aa666c6f
preparation to receive camera image data from physics server
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increase shadowmap world size default to 50 units (meter), 10 units (meter) was too small for most examples.
2016-05-31 10:23:04 -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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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
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
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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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
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3fe9138e8c
minor refactoring
2015-07-23 11:51:25 -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
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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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
