Commit Graph

82 Commits

Author SHA1 Message Date
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.
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
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
10cc6f14cb add option to use hardware OpenGL renderer for synthetic camera 2016-07-12 18:16:13 -07:00
erwincoumans
5249ca7ceb Merge pull request #690 from hujiajie/master
[WIP] Suppress compiler warnings.
2016-07-11 18:13:58 -07:00
hujiajie
d776f06815 [WIP] Suppress compiler warnings.
Visual Studio C4099: 'CommonExampleInterface': type name first seen using 'class' now seen using 'struct'.
2016-07-11 18:02:42 +08:00
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
f5ffb11bc5 fix bus error on Raspberry Pi, unaligned float access when loading STL files
fix pybullet Python 3 issue (PyString_FromString -> PyBytes_FromString and PyInt_FromLong -> PyLong_FromLong)
2016-06-23 05:10:00 +00:00
Erwin Coumans
2b8bd58e1c support single-scalar scale values in URDF, even though "officially" it should be a vector3. This will load quadcopter.urdf in Drake:
https://github.com/RobotLocomotion/drake/blob/master/drake/examples/Quadrotor/quadrotor.urdf
2016-06-22 09:59:25 -07:00
Erwin Coumans
a67df7fd03 fix cmake and premake build systems, after adding texture support in SDF,
in a nutshell, add the following two files:

examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
examples/ThirdPartyLibs/stb_image/stb_image.cpp
2016-06-19 17:35:25 -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
yunfeibai
d51320be2c Check diffuse field in sdf. 2016-06-17 15:47:11 -07:00
Erwin Coumans
26f6618f00 colors for sdf 2016-06-17 12:07:38 -07:00
Erwin Coumans
bd668d11b0 add .stl file support in 'File/Open' of example browser. 2016-06-07 12:57:46 -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.
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
535ee33e3b fix build3/stringify.sh
fix some compile issues
2016-05-25 15:37:28 -07:00
erwincoumans
ef19248daf Update URDFImporterInterface.h 2016-05-24 10:30:04 -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
9cc028d44c fix issue, some paths didn't return a value 2016-05-19 09:16:47 -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
d186320f30 fixes in rendering 2016-05-13 18:45:56 -07:00
erwin coumans
6a9c54c4ef Remove unused ROS urdf (was replaced by Bullet UrdfParser.
Small refactoring for ExampleBrowser: move examples cpp files in the app/executable
Move ExtendedTutorials in its own app/executable as a test.
2016-05-12 23:03:12 -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
0a3efbe349 make standalone versions (console, tinyrender, opengl) of InverseDynamics/InverseDynamicsExample 2016-05-06 13:57:48 -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
yunfeibai
cbeddfc897 Modify shared memory client example to test joint motor torque measurement. 2016-04-19 16:52:47 -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
Erwin Coumans
5c1eb2ec07 support 'world' tag for fixed objects in URDF 2016-03-30 14:43:59 -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
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
erwincoumans
ad29d27700 add initial inverse dynamics example skeleton, with urdf and programmatically created btMultiBody.
disabled in Bullet/examples/ExampleBrowser/ExampleEntries.cpp
2015-11-13 10:37:43 -08:00
erwincoumans
3b9b803683 b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API
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
erwincoumans
2920d7e61f Only support btMultiBody multi-dof version (remove non-multi-dof path)
Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
2015-11-05 21:17:46 -08:00
Erwin Coumans
8a956318e5 fix case sensitive issue 2015-10-28 16:02:55 -07:00
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
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4df58c35c7 use const in PhysicsClientC_Api, thanks to Roland
fix some warnings for Clang, thanks to Aaron
2015-10-15 08:15:22 -07:00
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8d26ff356d allow links without collision shapes in btMultiBody URDF importer 2015-09-25 17:00:44 -07:00
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2257ec05ad don't compensate for COLLADA up axis in collision element for now
(todo: let user override COLLADA up axis, some URDF files are inconsistent)
2015-09-10 17:36:19 -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
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
6d8ad72d68 add Tutorial.cpp files
load textured sphere8.obj by default as a test
tiny_obj_loader don't crash when mtl is not found
fix camera perspectives for some examples
2015-08-05 19:22:48 -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
26531f3fbc fix some warnings, disable gimpact by default in world importer,
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