Commit Graph

75 Commits

Author SHA1 Message Date
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
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
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
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
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.
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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
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
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
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
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
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
Erwin Coumans
e9c6abff47 add initial SDF importer, work-in-progress (still too incomplete to be useful) 2016-05-09 17:25:07 -07:00
erwincoumans
8a68e27bb7 move the RigidBodyFromObj to Importers section. 2016-05-07 16:36:14 -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
b0a4e126bf use cmake FIND_PACKAGE(PythonLibs 2.7 REQUIRED) if pybullet is build 2016-05-04 13:24:06 -07:00
Erwin Coumans
938db633df fixes in build system 2016-05-03 23:34:48 -07:00
Erwin Coumans
d8da00aa35 re-enable Wavefront .obj loader 2016-04-23 11:06:34 -07:00
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
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
c68c215ead add rudimentary command logging for shared memory physics server 2015-10-30 10:30:48 -07:00
erwin coumans
dc81e31e74 upload work-in-progress Collision example using C-API. 2015-10-28 11:48:36 -07:00
erwin coumans
3d9218e07d Add plane shape and profile timing support in examples/Collide
Use View/Profiler in example browser, in optimized build/Release mode
and look for plCollideWorld
2015-10-20 18:30:43 -07:00
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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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
faab737738 add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API 2015-08-24 15:26:29 -07:00
Erwin Coumans
74fda9ff85 simple multi threading test 2015-08-21 15:18:18 -07:00
erwincoumans
081a40d254 initial implementation to send debug lines from physics server to client,
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
Erwin Coumans
f89d587a02 update tutorial for SIGGRAPH course
allow multiple graphing windows at the same time
2015-08-10 14:30:00 -07:00
erwincoumans
de4dcdbb18 more tutorial work
add fixed_timestep command-line parameter, 0 means disabled (variable timestep)
2015-08-07 14:18:57 -07:00
erwin coumans
6d8ad72d68 add Tutorial.cpp files
load textured sphere8.obj by default as a test
tiny_obj_loader don't crash when mtl is not found
fix camera perspectives for some examples
2015-08-05 19:22:48 -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
erwincoumans
68b53feb9c add Inverted Pendulum example with PD control 2015-07-16 23:58:36 -07:00
erwin coumans
259bcb1989 mix physics client/server into a single example for easier/faster development of shared memory experiment
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
tweak camera near plane distance, less sensitive mouse wheel
2015-07-15 09:07:47 -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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a7fc45410b enable addition of examples at run-time 2015-07-12 14:58:31 -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
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41aa58560b add TestHingeTorque example using btRigidBody and btHingeConstraint, setup is similar to TestJointTorque using btMultiBody and a revolute joint. 2015-06-15 23:12:29 -07:00