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Code Issues Releases Wiki Activity
4,082 Commits 19 Branches 27 Tags 326 MiB
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179 Commits

Author SHA1 Message Date
YunfeiBai
6751648bce add some micro-sleep to prevent 100% CPU/memory bus hogging, preventing the graphics thread from making progress. 
debug draw color black for contact normal
move debug draw option for constraint frames into 'k' key.
 2016-08-19 13:58:53 -07:00
erwin coumans
62d5b7c5c0 add single step simulation, using 'o' key. use 'i' key to suspend simulation first 
default background color a bit darker, to show debug lines
tweaked contact point rendering a bit
 2016-08-19 10:30:02 -07:00
erwin coumans
a68c9ca845 avoid MT crash in VR/physics server due to printf from separate thread. 
add fps display in VR
use 1./240. internal substep for real-time physics sim in VR/physics server for more accurate robotics sim.
 2016-08-18 21:43:43 -07:00
Erwin Coumans
463f3e59c8 minor tweak in F1/screenshot handling. Note you can use --png_skip_frames=x command-line argument 2016-08-17 10:18:33 -07:00
erwin coumans
3bdcf23a05 Add sleep to avoid 100% busy CPU loop in PhysicsServerExample 
Added btClock::usleep
Fix broken TinyRenderer example code.
 2016-08-13 12:21:18 -07:00
Erwin Coumans
4bb488f65e reset canvas location 2016-08-11 15:02:00 -07:00
Erwin Coumans
3c30e2f821 add segmentation mask rendering to TinyRenderer and shared memory API 
similar to the zbuffer, but storing the object index (int) instead of float depth
 2016-08-11 14:55:30 -07:00
Erwin Coumans
b880ddf76b add pybullet render API with yaw/pitch/roll option 
add testrender.py file
allow option to enable OpenGL hardware renderer in multithreaded sim

b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
 2016-08-08 14:23:44 -07:00
Erwin Coumans (Google)
98c6181ba8 fix screen width/height issue on Intel/Linux 
add command-line option to set png_skip_frames when taking screenshot series
 2016-07-26 15:36:21 -07:00
Erwin Coumans
8270096fad add GripperGraspExample, separate from R2D2GraspExample 2016-07-25 12:30:47 -07:00
Erwin Coumans
6b0ceace7f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-07-25 11:49:56 -07:00
Erwin Coumans
a6216f4f24 add robotics learning grasp contact example 
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
53fa57bdc4 make IK compile on Mac OSX 2016-07-24 23:50:18 -07:00
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
erwin coumans
25a1714754 disable CProfileManager, might reduce some multi-threading conflicts 2016-07-19 15:55:52 -07:00
Erwin Coumans
fcc9d4ebcb fix SIMD/16-byte alignment issue causing issue in one of the old benchmarks 2016-07-16 22:33:15 -07:00
Erwin Coumans
8c69bfb042 fix: accidently enable memory-leak debug test 2016-07-16 21:36:40 -07:00
Erwin Coumans
c54a61b97a More example code is memory-leak free now, in particular PhysicsServerExample. 
/PhysicsServerCommandProcessor
also fixed some memory issue in InverseDynamicsExample (the base class is supposed to delete collision shape memory)
 2016-07-16 21:29:31 -07:00
erwin coumans
a12d25e6ce remove #include of visual leak detector (used to find memory leaks in ExampleBrowser/main.cpp) 2016-07-16 00:58:09 -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
34187fba1c fix camera update issue in previous commit 
fix Mac OSX build issue
 2016-07-14 09:49:49 -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
Benjamin Ellenberger
b73bcead4b Merge remote-tracking branch 'upstream/master 2016-07-11 23:31:49 +02:00
Benjamin Ellenberger
ed13cc6c26 Add a slider to displace pendula via GUI. 
------------------------------------------------
The slider applies the selected displacement force according to the chosen scalar and falls back to zero when moved below an absolute value of 0.2.
 2016-07-11 23:07:48 +02:00
Benjamin Ellenberger
5112de3e3f Fix premake.lua missing includes. 
---------------------------------------------------------------------
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
erwincoumans
e2e750efb2 Merge pull request #689 from erwincoumans/master 
prepare robotics learning examples, see examples/RoboticsLearning/b3R…
 2016-07-11 10:38:38 -07:00
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
hujiajie
8c573177eb [Working In Progress] Suppress compiler warnings. 
Suppress several warnings about unused variables.
 2016-07-10 23:18:03 +08:00
erwin coumans
02582e3a78 shrink down cube size of BasicDemo 10 times (it looked ginormous in VR) from 2x2x2 meter to 0.2 
add test for VR HUD/sub-titles
fix issue in previous commit, partial string use %.8s not %8.s
use long long int in b3Clock
fix warning/error in pointer alignment in serialization
Fix pybullet Windows compilation.
(thanks to bkeys/https://github.com/bulletphysics/bullet3/pull/687)
 2016-07-09 15:09:09 -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
Benjamin Ellenberger
50b6003470 Merge remote-tracking branch 'upstream/master' 2016-06-27 15:14:47 +02:00
Benjamin Ellenberger
e16082a7cd Refactor Newton's Cradle. Implement Newton's Cradle with Softbody ropes. 2016-06-27 15:14:36 +02:00
erwincoumans
b06e1cb873 Update CollisionShape2TriangleMesh.cpp 
fix memory leak, thanks Ilya Kostrikov for the report.
 2016-06-14 07:53:15 -07:00
Erwin Coumans
bd668d11b0 add .stl file support in 'File/Open' of example browser. 2016-06-07 12:57:46 -07:00
Benjamin Ellenberger
9872d2b20f Create InclinedPlane,Newton's Cradle and Multi-Pendulum examples for the Bullet Example Browser. 2016-06-04 12:09:37 +02:00
Benjamin Ellenberger
dfb2c51dc7 Merge remote-tracking branch 'upstream/master' 2016-06-04 11:36:43 +02:00
erwin coumans
4b2c0f6d89 make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF 
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
aa4d2ae01d initial hookup of TinyRenderer to shared memory interface 2016-06-01 17:47:41 -07:00
erwin coumans
9a5394c4bc fix cmake build 2016-06-01 11:07:39 -07:00
erwin coumans
f469a2cb49 update to tinyrenderer synthetic camera 2016-05-31 22:55:13 -07:00
erwin coumans
14aa666c6f preparation to receive camera image data from physics server 
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
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
fb2134f15f add combobox to select software/opengl rendering to compare 2016-05-18 17:57:13 -07:00
Erwin Coumans
7994a339ee disable RTC update for Physics Server by default 2016-05-18 16:21:40 -07:00
erwin coumans
a395ddcb06 add option to embed a physics server in the physics client example, for easier debugging 2016-05-18 09:34:42 -07:00
Benjamin Ellenberger
79be214d08 Merge resolve. 2016-05-15 14:19:01 +02:00
Erwin Coumans
876c9e57fe fixes 2016-05-13 22:57:41 -07:00
Erwin Coumans
578e4fc795 compile fixes 2016-05-13 22:10:18 -07:00
Erwin Coumans
f4a6b0cb9f move InProcessExampleBrowser.cpp into App instead of Lib 2016-05-13 21:10:16 -07:00