Erwin Coumans
0f5ee7a0a9
rename m_jointForce -> m_jointMotorForce to separate the name from m_jointForceTorque (which should have been called m_jointReactionForce)
2016-04-19 12:22:38 -07:00
yunfeibai
f9719e2405
Add measured joint motor force to joint sensor state.
2016-04-19 10:44:59 -07:00
erwincoumans
efbb1edecc
Allow InProcessExampleBrowser to use a malloc allocated memory block, instead of system shared memory.
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Make shared memory client/server a bit more robust, in case the server is terminated early.
2016-03-10 14:36:46 -08:00
erwincoumans
3b9b803683
b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API
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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
Erwin Coumans
2317307a22
Add b3GetStatusActualState() to C_API.
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Change pick-and-move C_API to use handlers
2015-11-04 16:08:28 -08:00
erwin coumans
2d5d89d999
Allow to request the state of a rigid body (position, orientation, lin/ang velocity) through shared memory API
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PhysicsClientC_API: b3RequestActualStateCommandInit requires a body unique Id as second argument
2015-10-27 15:46:13 -07:00
erwin coumans
9cc2b1ec12
Physics SharedMemory:
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Add flags BOX_SHAPE_HAS_MASS and BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE to CMD_CREATE_RIGID_BODY
(which maps to CMD_CREATE_BOX_COLLISION_SHAPE for backward compatibility for now)
Need to add way to receive world transform
2015-10-27 14:55:46 -07:00
erwincoumans
57f50f1778
Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory.
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Add a test for PhysicsLoopBack.
2015-10-26 17:56:21 -07:00
Erwin Coumans
ec1947bbbd
add SIM_PARAM_UPDATE_DELTA_TIME flag to fix setting the time step
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in shared memory API
2015-10-24 13:50:11 -07:00
Erwin Coumans
f28150c368
catch setting of invalid joint angles in PhysicsClientC_Api
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use the proper m_bodyUniqueIndex (todo: fix this field, move to shared command data)
2015-10-24 13:48:53 -07:00
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4df58c35c7
use const in PhysicsClientC_Api, thanks to Roland
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fix some warnings for Clang, thanks to Aaron
2015-10-15 08:15:22 -07:00
erwin coumans
a0e507280c
Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle).
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See PhysicsClientExample for example use of CMD_INIT_POSE.
Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
2015-10-13 22:23:28 -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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23bdd0ed36
more work on physics client c-api over shared memory
2015-09-17 09:37:44 -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
erwin coumans
f75df90d82
Allow batches of debug lines. The PhysicsClientExample rendering is still slow (one line at a time, instead of batches)
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Prepare for IMU sensor in Shared Memory Server
2015-09-03 14:18:22 -07:00
Erwin Coumans (Google)
3d130d9d66
reset simulation in test/SharedMemory/test for proper cleanup,
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and it can restart without shutting down/restarting physics server
w
2015-08-27 17:51:31 -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
erwincoumans
19c5be5646
small progress towards shared memory C-api and test.c.
2015-07-30 23:22:44 -07:00
Erwin Coumans
812c67e221
fix various warnings, more work on shared memory API
2015-07-22 18:06:05 -07:00
