erwincoumans
00361afea5
allow user to specify the maximum number of dofs to log in GenericRobotStateLogger (default = 12)
...
add minitaur quadruped playback of minitaur log files (real robot and simulated create the same log files)
add improved minitaur.urdf file, see https://youtu.be/lv7lybtOzeo for a preview.
2017-03-05 21:49:20 -08:00
Erwin Coumans
34fc2fb589
create premake/cmake file for Bullet/Extras/obj2sdf
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add missing 1.sdf for Bullet/data/kitchens/1.sdf
add support for getting keyboard events (pybullet.getKeyboardEvents and b3RobotSimulatorClientAPI::getKeyboardEvents)
2017-03-02 12:33:22 -08:00
Erwin Coumans
2eb019cdc3
Created Wavefront obj to sdf converter, to make it easier to import complex obj models with many materials. See kitchen for example.
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Fix in tinyobj, make sure material is initialized
Add fatihrmutfak kitchen model, for Virtual Reality and some research
2017-03-01 10:06:10 -08:00
Jie Tan
83e5e816f5
Merge remote-tracking branch 'bp/master' into pullRequest
2017-02-16 15:13:12 -08:00
Erwin Coumans
65deeee64b
add optimized tray/traybox.urdf
2017-02-16 14:29:51 -08:00
Erwin Coumans
63486a712c
VR video recording, use command-line --mp4=videoname.mp4
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tune gripper grasp example with tefal pan, 800Newton force.
URDF importer: if using single transform 1 child shape, don't use compound shape.
if renderGUI is false, don't intercept mouse clicks
add manyspheres.py example (performance is pretty bad, will look into it)
[pybullet] expose contactBreakingThreshold
2017-02-16 14:19:09 -08:00
Erwin Coumans
08b83c3cd8
Merge remote-tracking branch 'bp/master'
2017-02-16 13:41:12 -08:00
Jie Tan
4df8b27626
make the motorId corresponds to that of the real minitaur. change the mass of the quadruped.urdf, change the friction of plane.urdf.
2017-02-08 17:26:36 -08:00
Erwin Coumans
d0fa10db63
add spinning_friction to sphere2_rolling_friction.urd
2017-01-31 12:01:10 -08:00
erwincoumans
7e59cecd13
removed some link from MJCF hand, the parser doesn't handle that root link properly (yet)
2017-01-26 17:52:12 -08:00
Erwin Coumans
76dcf3a751
remove the contype=0 in inverted_pendulum.xml, so we can 'mouse-pick' the pendulum.
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[mjcf importer] add rudimentary support for inertial frame computation, for 'fromto' capsules.
2017-01-24 21:10:21 -08:00
Erwin Coumans
d465e1eea5
add capsule support in urdf parser (non-standard extension), capsule.urdf
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fix btCapsuleShape (X,Y,Z) margin issue
fix uninitialized variables in TinyRenderer: m_hasLightDistance, m_hasLightAmbientCoeff, m_hasLightDiffuseCoeff, m_hasLightSpecularCoeff
pybullet/shared memory API 'getClosestPoints' / b3InitClosestDistanceQuery, only report contacts equal/smaller distance than given
2017-01-23 16:45:18 -08:00
Erwin Coumans
64957ece9f
add hand.py/hand.ino used to create this VR glove, using MuJoCo Haptix MPL hand (Apache 2 license)
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https://www.youtube.com/watch?v=VMJyZtHQL50
added b3InitSyncBodyInfoCommand, to retrieve body info, when connecting to a server with existing bodies
pybullet will call this b3InitSyncBodyInfoCommand automatically after connecting
Avoid overriding the py.setVRCameraState setting in VR
2017-01-20 18:13:24 -08:00
Erwin Coumans
52761f5578
[pybullet] implement addUserDebugParameter / readUserDebugParameter
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fix inertial frame for door.urdf
allow picking of links of multi-bodies with a fixed base
2017-01-17 15:42:32 -08:00
Erwin Coumans
c0c4c8ba3f
fix many warnings
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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
2017-01-15 22:26:11 -08:00
Erwin Coumans
310fabcd7e
Further improvements in Bullet MuJoCo MJCF import:
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[MJCF import] improved humanoid.xml, inverted_pendulum.xml import (automatically add dummy-links to connect multiple joints between bodies)
[MJCF import] fix bug in quaternion conversion (w,x,y,z) -> (x,y,z,w)
2017-01-15 11:22:24 -08:00
Erwin Coumans
fdd517e00f
First step towards a MuJoCo MJCF importer for Bullet. It can load the humanoid.xml, ant.xml and some other OpenAI GYM asset files. Not all fields are converted, so it is work-in-progress. This is useful for Reinforcement Learning experiments, and would also help integration with DeepMind Lab.
2016-12-30 18:32:57 -08:00
Erwin Coumans
17570c4700
tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo
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allow VR physics server to run with or without 'realTimeSimulation'
2016-12-11 09:28:36 -08:00
erwincoumans
61cfa18923
save default VR camera tuning, requires MIDI controller
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tweak some values in VR demo
2016-12-02 17:44:00 -08:00
Erwin Coumans
898517b1e3
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2016-11-29 19:14:20 -08:00
Erwin Coumans
746c4d0d2a
add a tray, similar to those ones:
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https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html
tune the VR demo a bit, to make it more user friendly.
2016-11-29 17:08:47 -08:00
yunfeibai
0bc4e0a4c3
Render multiple objects with shadow.
2016-11-27 16:53:15 -08:00
yunfeibai
583dc1cac7
Add torus.
2016-11-27 15:34:01 -08:00
erwincoumans
8c69fa13ca
add pybullet getCameraImage, replacing renderImage, cleaner API:
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always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir
added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV
see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use
add missing base_link.stl for husky.urdf
2016-11-17 15:15:52 -08:00
Erwin Coumans
ee7a5a470f
tweak quadruped script to make a few more moves
2016-11-16 21:36:51 -08:00
erwincoumans
2329c00faa
Add RtMidi for midi control, use the --midi option in premake, and see
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update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr
add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc)
tweak quadruped.py to move a bit
add mouse picking to physics server
2016-11-16 16:12:59 -08:00
erwin coumans
d0cbfc5905
add humanoid/nao.urdf (BSD license)
2016-11-14 14:09:57 -08:00
Erwin Coumans
c521d816c6
add user debug line/text features in pybullet + shared memory API:
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addUserDebugLine,
addUserDebugText
removeUserDebugItem
removeAllUserDebugItems
2016-11-14 07:39:34 -08:00
erwincoumans
9bad64fed9
allow obsolete OpenGL2 drawer to render with z-up axis.
2016-11-12 11:59:40 -08:00
erwincoumans
0d47d61007
pybullet getClosestPoints
2016-11-09 21:01:04 -08:00
erwincoumans
502f4b7d40
update .bullet file
2016-11-05 11:32:31 -07:00
yunfeibai
b7482c1142
Add model file for kuka with free base.
2016-11-03 09:54:56 -07:00
yunfeibai
9d54f0cf8d
Grasp soft body with rigid fingers.
2016-11-01 15:46:09 -07:00
erwin coumans
24593ed11a
fix r2d2.urdf and avoid self-penetrating limbs
2016-10-19 16:21:33 -07:00
erwin coumans
eda400d14c
Merge remote-tracking branch 'bp/master'
2016-10-19 07:43:46 -07:00
erwin coumans
d1ab6c144b
change some defaults in MultiBody example, a slider constraint without limits is a bad idea
2016-10-16 11:52:38 -07:00
yunfeibai
880ee097fa
Simulate bunny in grasp demo and set collision margin.
2016-10-12 15:34:45 -07:00
yunfeibai
379f2ac933
Load bunny to to the world in the grasp demo.
2016-10-12 11:51:04 -07:00
erwincoumans
d853500997
add kuka iiwa with different limits (experiment with inverse kinematics null space)
2016-10-09 21:16:01 -07:00
erwincoumans
0aa2bbfe07
Merge pull request #817 from erwincoumans/master
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avoid wavefront obj texture index out-of-bounds (most obj out-of-boun…
2016-10-05 17:28:23 -07:00
erwin coumans
d59b0f05a4
expose b3PhysicsParamSetNumSolverIterations
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split Visual Studio project generation batch file in regular and VR+pybullet+double precision build.
disable KUKA iiwa joint limit hack
2016-10-05 16:31:48 -07:00
YunfeiBai
ebe5d9bb84
Add null space task as an option for IK in VR.
2016-09-30 16:47:33 -07:00
YunfeiBai
8befdcba1a
Modify table rendering.
2016-09-30 12:30:34 -07:00
YunfeiBai
a2dacce3d4
Move object around to reset the scene in VR.
2016-09-30 11:57:30 -07:00
erwincoumans
032ffe427e
jenga brick was way too heavy
2016-09-29 22:03:29 -07:00
erwincoumans
d8c54e3e31
no spinning friction for jenga block
2016-09-29 21:51:28 -07:00
erwincoumans
a1fa2b8056
add a basic table top (no legs yet)
2016-09-29 21:45:39 -07:00
yunfeibai
dd10dd6a3f
Add a new one motor gripper to use Featherstone for slider and constraint for revolute joint.
2016-09-29 12:07:00 -07:00
YunfeiBai
619f0d9d13
fixes in default VR setup
2016-09-28 16:07:55 -07:00
YunfeiBai
dacca09614
Merge remote-tracking branch 'bp/master'
2016-09-28 13:54:35 -07:00
YunfeiBai
032156fbf2
Merge branch 'master' of https://github.com/bulletphysics/bullet3
2016-09-28 13:54:18 -07:00
YunfeiBai
a967163665
Add chess pieces.
2016-09-28 13:46:41 -07:00
erwin coumans
b81eb79ef5
ping-pong back/forward in PGS solving iterations to reduce bias in constraint order
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add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
2016-09-28 11:17:11 -07:00
YunfeiBai
51963fdea3
Merge branch 'master' of https://github.com/bulletphysics/bullet3
2016-09-27 16:51:41 -07:00
YunfeiBai
7101cf013e
Remove unused model.
2016-09-27 16:41:02 -07:00
YunfeiBai
3910003e0a
Add IK damping coefficient vector.
2016-09-27 16:37:49 -07:00
YunfeiBai
61fccba5be
Control two orientation components for kuka.
2016-09-27 14:10:20 -07:00
YunfeiBai
539fe505a4
Add table and tray.
2016-09-26 11:31:30 -07:00
Erwin Coumans
96c1ee4256
revert default contact 'erp' (error-reduction-parameter) from 0.8 to 0.2
...
as it used to be.
2016-09-26 07:55:30 -07:00
YunfeiBai
60d07a6f6e
Kuka grasp with one motor gripper.
2016-09-25 21:13:31 -07:00
YunfeiBai
b803f4e7cf
Attach gripper to kuka arm.
2016-09-25 16:05:53 -07:00
erwincoumans
f5e65197f4
fix pybullet.c compilation for Windows
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add lego.urdf, duck.urdf (optimized using VHACD convex decomposition)
optimize Kiva shelf collision model (by hand, using boxes/Blender)
physics timescale toggle between 1 -> 0,25 -> 0
2016-09-24 11:25:05 -07:00
erwincoumans
666c8f47b7
Merge pull request #800 from bulletphysics/iktest
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Iktest
2016-09-23 07:40:09 -07:00
erwincoumans
b6bb937dc0
URDF: don't parse joint limit for continuous joints
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tweak KUKA iiwa inverse kinematics test in physics server
2016-09-22 23:21:24 -07:00
erwin coumans
e356f4f1f6
add test end-effector for Kuka iiwa (IK)
2016-09-22 19:48:26 -07:00
erwincoumans
46b32f17bb
Add small sphere, make teddy small too
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Add physics time scale in VR mode
Fix compound collision margin in physics server
Enable visuals for rigid body (non-multi-body) URDF/SDF loading in physics server.
2016-09-22 08:50:28 -07:00
yunfeibai
27fab2adb5
Create a demo for one motor gripper grasp.
2016-09-21 12:08:03 -07:00
erwin coumans
0a628f06cc
decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm)
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tweak pr2 gripper.
2016-09-20 12:37:13 -07:00
erwin coumans
a4165adddc
more tweak in pr2_gripper.urdf (VR), remove some collision meshes (until interaction issues are resolved)
2016-09-19 14:40:01 -07:00
erwin coumans
a3aa8ef7f1
tune gripper parameters for VR demo
2016-09-19 14:31:47 -07:00
erwin coumans
db3122233f
remove that odd triangle in the origin of samurai castle (VR)
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add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance
2016-09-19 07:02:43 -07:00
Erwin Coumans
567b003654
separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction
...
improvements in VR demo, add grasper etc.
2016-09-16 00:57:00 +01:00
Erwin Coumans
1d88cf71e4
separate spinning friction (torsional friction around contact normal) from
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rolling friction (orthogonal to contact normal)
2016-09-16 00:04:33 +01:00
erwincoumans
e5a8eb2425
rolling friction -> combine using rolling*normal friction, add for both objects.
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rolling friction -> only along the normal, until we have separate rolling friction coefficients on normal and non-normal directions
Don't teleport with grasping controller (VR)
Tune VR grasping a bit.
2016-09-12 19:10:20 +01:00
erwin coumans
3c706306cd
add experimental pr2-gripper support in VR physics server
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add setErp to btMultiBodyJointMotor
2016-09-09 14:30:37 -07:00
erwin coumans
32eccdff61
Create project file for BussIK inverse kinematics library (premake, cmake)
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URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)
2016-09-08 15:15:58 -07:00
erwin coumans
de5d1b5cfc
make husky wheels soft/compliant
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reduce shadow size to make VR on older GPU (Mac Pro 2013) perform more smooth
less sleep in physics thread.
2016-09-03 08:39:40 -07:00
Erwin Coumans
ecd814c9c5
export contact friction/damping through URDF and API
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convert from contact friction/damping to cfm/erp
btCollisionObject::setContactFrictionAndDamping
2016-09-02 16:40:56 -07:00
erwincoumans
a370c3bbac
Merge pull request #765 from YunfeiBai/master
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Torsional and rolling friction for btMultiBody
2016-09-01 14:57:46 -07:00
yunfeibai
9c124b5896
Rolling friction demo for sphere and torsional friction demo for two point contact.
2016-08-30 17:50:37 -07:00
yunfeibai
d784c61b61
Add rolling friction, set rolling friction coefficient from urdf, and set up two point contact experiment.
2016-08-30 11:19:23 -07:00
Erwin Coumans
900fd86d58
fix R2D2GraspExample
2016-08-29 12:35:02 -07:00
erwin coumans
c5164e503f
fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBodyDoubleData
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causing serialization issue in URDF/SDF loading in double-precision mode on Windows 32bit.
(it was fine on Mac/Linux 64bit)
bump serialization version to 2.85, as we change the file format
fix in name clash in makesdna.cpp -> intptr_t is already defined.
2016-08-26 10:00:29 -07:00
yunfeibai
4bc31394a0
Allow choosing loaded as btRigidBody with RobotSimAPI.
2016-08-16 16:57:48 -07:00
Erwin Coumans
a6216f4f24
add robotics learning grasp contact example
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add wsg50 gripper with modified r2d2 gripper tip
expose a fudge factor to scale inertia, to make grasping more stable
(until we have better grasping contact model/implementation)
2016-07-25 11:48:44 -07:00
erwin coumans
c28cd03fbd
OpenVR controller can pick/drag objects. Instructions, Windows only:
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Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.
2016-07-17 23:50:11 -07:00
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
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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
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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)
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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
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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
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use textured cube/sphere model for test
2016-06-02 13:54:52 -07:00
Erwin Coumans
b1adc0d9ef
avoid API change in URDFImporterInterface
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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.
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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)
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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
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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
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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
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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)
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add door.urdf for testing damping/friction
2016-03-17 14:54:46 -07:00
Erwin Coumans
6c9815c8f9
fix axis in r2d2.urdf
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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
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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
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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.
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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,
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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
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89765ceccf
update kuka urdf
2015-08-19 16:05:32 -07:00
Erwin Coumans
f89d587a02
update tutorial for SIGGRAPH course
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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
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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
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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
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
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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
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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
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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)
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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
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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
c9a630e7c6
rename loadUrdf -> loadMultiBodyFromUrdf in lua script
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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
erwincoumans
794c8ec064
add BspDemo.bsp data file
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add sphere2.urdf
move btSpatialAlgebra into LinearMath
remove some warnings, introduce BT_ZERO, BT_ONE, BT_HALF as defines for 0.f/0., 1.f/1., 0.5f/0.5 respectively
2015-04-16 10:17:35 -07:00
erwin coumans
122fabac87
prepare to create coordinate frame demo, minor cleanup for create funcs in demo entries,
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fix r2d2.urdf inertia
2014-12-12 18:14:49 -08:00
erwin coumans
579b34d2e0
Added a basic COLLADA .dae importer mainly to support URDF loading (URDF can refer to COLLADA .dae or STL .stl for mesh support)
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It is fairly limited, only supports loading <geometry> with triangulated meshes, no material loading
I will extend this with COLLADA Physics support.
2014-10-21 17:44:54 -07:00
erwincoumans
4403ecf49d
AMD 14.50Alpha5 driver fixes the issue with MPR kernel, re-enable testFileFracture.bullet
2014-09-12 09:50:13 -07:00
erwin coumans
89addd438e
add 'fixed' joint for btMultiBody
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improve btMultiBody version of URDF reader (still work-in-progress)
enabled planar joint for btMultiBody (untested)
enable loading from relative path for .stl meshes
2014-08-28 18:42:08 -07:00
Erwin Coumans
2b35911f2a
X11OpenGLWindow: create stencil buffer for shadows in OpenGL2 mode (OpenGL3 uses shadow maps)
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Add 'createCollisionObjectGraphicsObject' API for CommonPhysicsSetup
Add 'pthread' dependency as workaround for NVIDIA graphics driver issue
(see //See https://bugs.launchpad.net/ubuntu/+source/nvidia-graphics-drivers-319/+bug/1248642
)
2014-08-26 11:28:44 -07:00
Erwin Coumans
ae98ffe218
add Obj and STL import demo, work on URDF import
2014-08-03 13:45:05 -07:00
Erwin Coumans
dc491936a2
rename ObsoleteDemos back to Demos
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fix some relative path issues for loading assets
2014-05-12 16:12:01 -07:00
erwincoumans
122ceacb6d
move OpenCL initialization for the unit tests in a shared header file, and support some basic command-line arguments
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--cl_device=1 --cl_platform=1 --allow_opencl_cpu
add chaindemo, test for mass ratios
restore sleeping/activation mode in featherstone demo
Use _VARIADIC_MAX=10 to avoid Google Test issues with Visual Studio 2012, thanks to Mobeen for the report
Enable verbose printf for unit tests
2014-02-11 10:33:00 -08:00
erwincoumans
3768a30bb2
added very crude little LuaDemo, to create physics objects using Lua scripts (very preliminary)
2014-02-06 01:13:31 -08:00
erwincoumans
d65cd8060a
add Lua and basic Lua->C/C++ integration test, in preparation for Bullet demos setup using Lua scripts.
2014-02-05 19:39:48 -08:00
Erwin Coumans
94db38358c
add zlib/minizip so we can load compressed data (github/git is bad in handling large binary files)
2014-02-04 13:39:55 -08:00
erwin coumans
ec4292ad75
add basic test texture
2014-01-17 22:19:12 -08:00
Erwin Coumans
472a4068fc
Enable MPR by default
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Add the contact point from MPR, in addition to SAT/clipping contacts. Added a new kernel to clear/reset the number of contacts in pairs (stored in the z component)
Always sample unit sphere directions, if there are more edge-edge combinations than unit sphere directions (162 by default)
Remember last running demo for Bullet 3 (and save it in a text file, Bullet
Enable the testFileFracture.bullet in the Bullet2FileDemo
2014-01-15 10:35:51 -08:00
erwincoumans
d32629dbe2
add the option to load a set of AABB's from a file, see PairBench
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You can use the following command-line arguments:
App_Bullet*.exe --selected_demo=10 --cl_platform=1 --pair_benchmark_file=64006GPUAABBs.txt --benchmark
2013-08-23 17:55:28 -07:00
erwincoumans
1c0fc6bc2d
report when compound pair capacity is exceeded (and avoid crash)
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add tetrahedron, reorganized demos
2013-07-30 17:00:50 -07:00
erwin coumans
2793a174c6
added fracture scene .bullet file (doesn't work well yet)
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added tetrahedral mesh test scene
expose b3Config as member variable for demos.
move a 'glFlush' out of the innerloop (render performance)
SSE -> SSE2 in premake
fix crash in broadphase (when no aabb's exist)
2013-07-30 12:37:16 -07:00
erwincoumans
25fe5f4a77
prepare for GPU cloth/softbody
2013-05-06 18:35:34 -07:00
erwin coumans
6ee9eb9bb5
fix bug in assignment of contact constraints to solver grid (always use dynamic body to determine constraint assignment, otherwise write conflicts can occur)
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implement CPU version of narrowphase convex collision, for comparison/debug purposes
start towards cpu/gpu sync, for adding/removing bodies (work in progress)
2013-05-02 09:49:16 -07:00
erwin coumans
6bcb5b9d5f
tweaks in camera position in demo
2013-04-23 16:30:35 -07:00
erwin coumans
f943204aa2
add .bullet loader for GPU demo
2013-04-23 16:07:17 -07:00
erwin coumans
ec0d2ed523
extend Wavefront obj loader to recognize objects (for compound shape creation)
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add reproduction of a bug in compound versus concave trimesh
2013-04-12 10:25:11 -07:00
erwin coumans
467a68293b
fix convex-plane for > 4 vertices
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improve compound demo
2013-04-10 00:03:02 -07:00
erwin coumans
68062bdfbd
added Samurai Monastry wavefront .obj
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added alternative batching kernel (slow)
tweaked controls a bit
added command-line options --selected_demo=<int> and --new_batching
started looking into parallel 3d sap
2013-03-23 23:00:50 -07:00
erwin coumans
8a6d71ad42
added Leo wavefront file
2013-03-22 16:24:09 -07:00
erwin coumans
b4f9416cdf
add support for BVH acceleration for concave trianglemesh collision against convex hulls
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bugfix/improvement in batching
2013-03-20 23:37:34 -07:00
erwin coumans
a3358b1099
add test .obj files in data folder
2013-03-18 20:44:26 -07:00