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Code Issues Releases Wiki Activity
3,893 Commits 19 Branches 27 Tags 326 MiB
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Commit Graph

136 Commits

Author SHA1 Message Date
Erwin Coumans
c17c39c2c9 move PD control from PhysicsServerCommandProcessor into btMultiBodyJointMotor 
improvements/changes in pybullet API
 2016-06-24 11:06:56 -07:00
Erwin Coumans (Google)
6d1948e79e tweaks in pybullet and shared memory C-API: 
allow to reset the state of a single joint
allow to set the target/mode for a single joint motor at a time
rename pybullet API: initializeJointPositions -> resetJointState
 2016-06-24 07:31:17 -07:00
Erwin Coumans
2cd0eba257 re-introduce old method in pybullet for temporary back-wards compatibility 
b3JointControlCommandInit requires 3 args, but it was only 2,
use b3JointControlCommandInit2 for now.
 2016-06-23 08:40:36 -07:00
Erwin Coumans
8b96e2de3c a few pybullet tweaks to set desired joint motor targets (pos/vel/torque) 2016-06-22 23:21:47 -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
erwincoumans
c7365837cd Merge pull request #661 from erwincoumans/master 
fix some issues related to controlling a robot/multibody beyond body …
 2016-06-17 07:34:07 -07:00
Erwin Coumans
53a0772257 fix some issues related to controlling a robot/multibody beyond body index 0 
(most testing happened with a single robot/multibody so far)
preliminary pybullet.setJointControl implementation
 2016-06-16 18:46:34 -07:00
yunfeibai
1329f265c8 Set view and projection matrices from camera and frustum parameters. 2016-06-16 11:48:37 -07:00
Erwin Coumans
95a09bec99 implement getJointInfo for objects loaded through SDF 2016-06-15 18:01:41 -07:00
Erwin Coumans
456c844a6b work-in-progress send object/joint information after loading SDF file 2016-06-14 18:41:19 -07:00
Erwin Coumans
566ed87c93 fix a regression in a test 2016-06-13 18:58:52 -07:00
erwincoumans
6523df336e Fix pybullet Windows build errors: C99 requires variables to be defined at the start of the function. 
Improve CMake Windows support to build PyBullet (BUILD_PYBULLET)
Implement b3LoadSdfCommandInit in shared memory API
Implement pybullet SDF loading binding, in loadSDF API
TODO for SDF support is provide way to query object/link/joint information.
 2016-06-13 10:11:28 -07:00
Jasmine Hsu
ecc192df94 render image with ability to set pixel resolution and initial camera position 2016-06-10 15:07:52 -07:00
Erwin Coumans
98d2f91f3c fix flipped tinyrenderer image 2016-06-09 12:12:46 -07:00
Erwin Coumans
e0c3392cee don't pass width/height into renderObject 2016-06-07 17:02:47 -07:00
Erwin Coumans
d2e50d045b fix issues related to camera width/height 
add width,height as arguments to pybullet.renderImage(x,y,[viewMat4x4],[projMat4x4])
 2016-06-07 16:11:58 -07:00
Erwin Coumans
1c7f87aff1 implement first draft of pybullet.renderImage for synthetic camera 
remove a few debug printf from tinyrenderer
 2016-06-06 18:54:05 -07:00
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
5bf125cab5 fix some compile issues using premake 
use textured cube/sphere model for test
 2016-06-02 13:54:52 -07:00
Erwin Coumans
aa4d2ae01d initial hookup of TinyRenderer to shared memory interface 2016-06-01 17:47:41 -07:00
erwin coumans
ef85a71d4b more work on synthetic camera 2016-06-01 11:04:10 -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
erwin coumans
606f78da43 work-in-progress tinyrenderer -> shared memory API synthetic camera image 2016-05-17 23:57:19 -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
1bebcc6d9a Merge remote-tracking branch 'upstream/master' 2016-05-10 10:18:27 -07:00
Erwin Coumans
ab4299f517 expose the local inertial frame for each link in the shared memory API 
struct b3LinkState
{
    double m_worldPosition[3];//this is the inertial frame
    double m_worldOrientation[4];

    double m_localInertialPosition[3];//this is the local frame from inertial to link frame
    double m_localInertialOrientation[4];
};

  const btTransform link_frame_world =
               inertial_frame_world * m_local_inertial_frame->inverse();
 2016-04-29 14:46:25 -07:00
erwincoumans
66bfb7e708 Update PhysicsClientC_API.cpp 
fix a copy/paste bug -> pos+quat = 7, but pos is just 3
 2016-04-25 09:37:04 -07:00
Erwin Coumans
f99d1c45aa expose multibody link world transform in the shared memory API 2016-04-23 17:29:46 -07:00
yunfeibai
cbeddfc897 Modify shared memory client example to test joint motor torque measurement. 2016-04-19 16:52:47 -07:00
yunfeibai
c384383250 Merge branch 'master' of https://github.com/bulletphysics/bullet3 
Update measured torque name.
 2016-04-19 14:20:28 -07:00
yunfeibai
c3afbf7689 set desired position target 2016-04-19 14:19:18 -07:00
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
erwincoumans
05845d7df9 Merge pull request #602 from erwincoumans/master 
handle window closing in InProcessPhysicsClientSharedMemoryMainThread
 2016-04-19 10:58:13 -07:00
yunfeibai
f9719e2405 Add measured joint motor force to joint sensor state. 2016-04-19 10:44:59 -07:00
Erwin Coumans
bebe9a728b handle window closing in InProcessPhysicsClientSharedMemoryMainThread 2016-04-19 08:29:20 -07:00
Erwin Coumans
59e0bef988 remove compile errors and some debug code in ExampleBrowser. 2016-04-14 12:19:55 -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
0ca56e756f add joint damping in PhysicsServerCommandProcessor 2016-04-13 17:21:43 -07:00
Erwin Coumans
4df7257250 more comments in SharedMemory C API 2016-04-13 17:09:48 -07:00
Erwin Coumans
34e6eb4a18 add a few lines of documentation and some error checks in SharedMemory API 2016-04-13 13:06:15 -07:00
Erwin Coumans
f3c7f30684 fix some memory leaks in ImportURDF / PhysicsServerCommandProcessor 2016-04-11 16:42:02 -07:00
Erwin Coumans
59b32b7af1 re-enable command log and playback in physics server 
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 
reset callback to 0 after exiting a demo to avoid issues
 2016-03-17 16:11:53 -07:00