Commit Graph

59 Commits

Author SHA1 Message Date
erwincoumans
c481662938 Merge pull request #723 from benelot/3D-NN-walkers-example
Simple Neural Network 3D Walkers example
2016-10-21 08:47:35 -07:00
erwin coumans
29f3afe2a4 don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps
optimize gpu upload (use glBufferSubData instead of glMapBuffer
Avoid checking char array against zero.
2016-10-14 15:06:09 -07:00
erwin coumans
32eccdff61 Create project file for BussIK inverse kinematics library (premake, cmake)
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
Benjamin Ellenberger
4622ab4299 Merge commit. 2016-07-31 16:22:50 +02:00
erwin coumans
75e86051c2 Add inverse kinematics example with implementations by Sam Buss.
Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
2016-07-24 22:22:42 -07:00
Benjamin Ellenberger
b73bcead4b Merge remote-tracking branch 'upstream/master 2016-07-11 23:31:49 +02:00
Benjamin Ellenberger
5112de3e3f Fix premake.lua missing includes.
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Due to using Cmake for the creation of the example, the premake.lua file was not correctly updated. This commit adds the missing includes by including all files using a wildcard.
2016-07-11 21:50:32 +02:00
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
Benjamin Ellenberger
74aba8b8fd Correct the build files and fix the name of the create method in header
file.
2016-07-04 19:17:50 +02:00
Benjamin Ellenberger
2bf17a7a81 Initial commit.
------------
Simplifying the walker generation code and making it more understandable

SQUASH THIS LATER.
2016-07-01 19:35:27 +02:00
erwin coumans
f469a2cb49 update to tinyrenderer synthetic camera 2016-05-31 22:55:13 -07:00
Erwin Coumans
876c9e57fe fixes 2016-05-13 22:57:41 -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
erwincoumans
5151519b94 https://github.com/bulletphysics/bullet3/pull/618 by Mobeen
Summary of changes:
1) Changed include paths to be relative to the current sources (affected
files: LoadMeshFromObj.cpp, Wavefront2GLInstanceGraphicsShape.h/cpp)
2) Added new tutorials in the ExtendedTutorials folder
3) Modified the main_opengl_single_example.cpp file to enable picking
support in standalone demos
2016-05-06 15:07:54 -07:00
Erwin Coumans
aa9a276a71 fix typo in texels flip
add support to create a cube in TinyRenderer (quick test)
2016-04-28 23:01:49 -07:00
Erwin Coumans
d8da00aa35 re-enable Wavefront .obj loader 2016-04-23 11:06:34 -07:00
Erwin Coumans
2cbfeb9590 run GUI on main thread for Mac OSX/__APPLE__, due to OS limitation
add b3CreateInProcessPhysicsServerAndConnectMainThread to test.c
2016-04-14 08:51:20 -07:00
Erwin Coumans
937b6d84e5 re-enable --enable_experimental_opencl flag for
premake build of App_BulletExampleBrowser
(not enabled when using cmake!)
(not enabled when using cmake!)
(not enabled when using cmake!)
(not enabled when using cmake!)
(not enabled when using cmake!)
(not enabled when using cmake!)
(not enabled when using cmake!)
(not enabled when using cmake!)
(not enabled when using cmake!)
2016-03-16 09:02:39 -07:00
Erwin Coumans
005ef9d2f1 fixes in SharedMemory unit test, premake build issue on Linux 2016-03-15 18:29:32 -07:00
Erwin Coumans
c69524be9e fix Lua example 2016-03-10 21:15:23 -08:00
erwincoumans
efbb1edecc Allow InProcessExampleBrowser to use a malloc allocated memory block, instead of system shared memory.
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
9be978337f quick draft implementation for SharedMemoryInProcessPhysicsC_API 2016-03-07 14:56:16 -08:00
Erwin Coumans
d70132a901 only enable Wavefront obj support for URDF when ENABLE_URDF_OBJ is defined.
add destructor for SampleJob1
2016-03-01 09:15:55 -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
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
03cc4f0554 add InverseDynamics example for example browser
add CMake support for BulletInverseDynamics and BulletInverseDynamicsUtils
2015-11-24 11:12:02 -08:00
Erwin Coumans
b4701613c8 consistent *API.* in examples/SharedMemory 2015-11-23 08:00:42 -08:00
erwincoumans
5589fb03af Merge branch 'master' of https://github.com/erwincoumans/bullet3 2015-11-22 20:50:41 -08:00
erwincoumans
03bf78ef49 add physics server loopback (both client and server in the same process, using shared memory)
add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-22 20:50:32 -08:00
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
Erwin Coumans
3d3830962a add a few collision examples to test a C API with various back-ends 2015-10-17 13:44:00 -07:00
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5e4badc099 make PhysicsClient an interface class, and move shared memory implementation
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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003a42478b another step closer to useable shared memory C API
(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
74fda9ff85 simple multi threading test 2015-08-21 15:18:18 -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
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3fe9138e8c minor refactoring 2015-07-23 11:51:25 -07:00
erwincoumans
68b53feb9c add Inverted Pendulum example with PD control 2015-07-16 23:58:36 -07:00
erwin coumans
b563c7c8ce add additional example using server and client for future simple robot control of simulated robot
(load urdf, get state, set desired state, step simulation)
Create SharedMemoryCommand and put that into the queue
move arrays for Q, Qdot etc into the command
2015-07-15 15:23:40 -07:00
erwin coumans
54a76f6e0c Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code.
(as usual, work-in-progress)
2015-07-14 15:30:17 -07:00
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3431773800 expose btMultiBodyConstraint applied impulse (force) on its degree of freedom(s),
only tested for btMultiBodyJointMotor for now.
See also MultiBody/MultiBodyConstraintFeedback example
2015-07-06 23:00:46 -07:00
Erwin Coumans (Google)
8517e85b21 fix various warning
add b3ResourcePath utility, to locate resources relative to executable
2015-07-03 18:17:14 -07:00
erwin coumans
a94ac6300a add Windows version of shared memory, very basic implementation (only allows one single allocation) 2015-06-04 15:37:18 -07:00
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82576d0bee added preliminary shared memory physics client/server
fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 16:05:24 -07:00
Erwin Coumans
dbae21ae5a prepare for some basic lua scripting example 2015-05-13 09:17:59 -07:00
Erwin Coumans
82f81e16f3 fix Yosemite build 2015-05-07 11:44:16 -07:00
Erwin Coumans
0da584a42d allow to compile and run the ExampleBrowser on older Mac OSX versions (without OpenGL3)
using the 'NO_OPENGL3' preprocessor definition
both premake/cmake has support for this now
needs some testing
2015-05-06 10:35:14 -07:00
Erwin Coumans
184a0013b4 add RollingFrictionDemo
tweak benchmark demo camera
2015-05-03 11:45:30 -07:00
Erwin Coumans
d90578ec98 fix premake 2015-05-03 10:59:35 -07:00
erwincoumans
01d14f538a fix some out-of-bounds error in the OpenCL rigid body pipeline
re-enable an OpenCL/gpu rigid body example (box-box stack)
2015-05-01 21:34:27 -07:00