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Commit Graph

112 Commits

Author SHA1 Message Date
erwin coumans
d6f449762b avoid wavefront obj texture index out-of-bounds (most obj out-of-bounds are not checked) 
use second controller button
 2016-10-04 08:53:59 -07:00
erwincoumans
f5e65197f4 fix pybullet.c compilation for Windows 
add lego.urdf, duck.urdf (optimized using VHACD convex decomposition)
optimize Kiva shelf collision model (by hand, using boxes/Blender)
physics timescale toggle between  1 -> 0,25 -> 0
 2016-09-24 11:25:05 -07:00
Logan Su
3b779ad3e9 Do not add limits for continuous joints. 2016-09-23 11:45:46 -07:00
erwincoumans
b6bb937dc0 URDF: don't parse joint limit for continuous joints 
tweak KUKA iiwa inverse kinematics test in physics server
 2016-09-22 23:21:24 -07:00
erwincoumans
46b32f17bb Add small sphere, make teddy small too 
Add physics time scale in VR mode
Fix compound collision margin in physics server
Enable visuals for rigid body (non-multi-body) URDF/SDF loading in physics server.
 2016-09-22 08:50:28 -07:00
erwin coumans
0a628f06cc decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm) 
tweak pr2 gripper.
 2016-09-20 12:37:13 -07:00
erwincoumans
8d4c99801e Merge pull request #783 from bingjeff/urdf_loader_changes 
[URDF] Edit loader to handle full inertia tensor.
 2016-09-20 04:39:38 -07:00
erwin coumans
db3122233f remove that odd triangle in the origin of samurai castle (VR) 
add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance
 2016-09-19 07:02:43 -07:00
Erwin Coumans
1d88cf71e4 separate spinning friction (torsional friction around contact normal) from 
rolling friction (orthogonal to contact normal)
 2016-09-16 00:04:33 +01:00
Jeffrey Bingham
26a464bf0b [URDF] Edit loader to handle full inertia tensor. 
Previous URDF loader did not handle off-diagonal elements
in the URDF. This commit adds functionality to allow
the loading of an inertia matrix that has not already
been reduced to its principal components. It diagonalizes
the inertia matrix, tests that the values are real and
updates the inertial frame.
 2016-09-13 08:42:33 -07:00
erwin coumans
4ab02a07e5 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-08 15:22:41 -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
erwincoumans
ba2f522e05 Update BulletUrdfImporter.cpp 
use free (and not delete), since b3ImportMeshUtility/stbi_load uses malloc (and not new)
 2016-09-07 16:02:16 -07:00
erwincoumans
4c9b009d5b Merge pull request #770 from erwincoumans/master 
export contact friction/damping through URDF and API
 2016-09-02 18:18:21 -07:00
Erwin Coumans
ecd814c9c5 export contact friction/damping through URDF and API 
convert from contact friction/damping to cfm/erp
btCollisionObject::setContactFrictionAndDamping
 2016-09-02 16:40:56 -07:00
Logan Su
9d2d286c46 Fix joint orientations when loading URDF files. 2016-09-01 18:12:14 -07:00
erwincoumans
a370c3bbac Merge pull request #765 from YunfeiBai/master 
Torsional and rolling friction for btMultiBody
 2016-09-01 14:57:46 -07:00
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
Logan Su
f86ce4d44b Add flags to load inertia values from URDF. 2016-08-29 15:09:18 -07:00
erwin coumans
c5164e503f fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBodyDoubleData 
causing serialization issue in  URDF/SDF loading in double-precision mode on Windows 32bit.
(it was fine on Mac/Linux 64bit)
bump serialization version to 2.85, as we change the file format
fix in name clash in makesdna.cpp -> intptr_t is already defined.
 2016-08-26 10:00:29 -07:00
erwin coumans
6005e54aa1 Fix some inconsistencies in URDF file handling between btRigidBody and btMultiBody 
(rotation order and application of root-inertial-frame offset)
 2016-08-18 09:44:33 -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
04cd9e18d6 add [] in error message of texture loading, to show leading/trailing spaces 2016-08-01 23:53:38 -07:00
Erwin Coumans
b759ab8a91 fix overflow visual shape in COLLADA .dae file importer. 2016-08-01 23:45:14 -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
erwincoumans
e88de13cc6 fix Parse joint dynamics in SDF 2016-07-20 15:41:58 -07:00
Mat Kelcey
9369f9b764 fix error msg when loading sdfs 2016-07-20 10:24:34 -07:00
Erwin Coumans
589fa376b3 only add compound child shapes to 'allocated' list once 2016-07-16 17:58:06 -07:00
Erwin Coumans
e2bdd7dbb1 fix more memory leaks, ImportURDFExample is now leak-free 
eliminate all run-time memory allocation (except for mouse-pick/ray-intersection) in ImportURDFExample
 2016-07-16 17:40:44 -07:00
Erwin Coumans
2caa2b7ff4 removed more memory leaks and improve btAlignedAllocator memory-leak debugging 2016-07-16 14:58:11 -07:00
Erwin Coumans
bbefc6b108 fix an issue in previous commit 2016-07-16 01:11:53 -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
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
erwincoumans
5249ca7ceb Merge pull request #690 from hujiajie/master 
[WIP] Suppress compiler warnings.
 2016-07-11 18:13:58 -07:00
hujiajie
d776f06815 [WIP] Suppress compiler warnings. 
Visual Studio C4099: 'CommonExampleInterface': type name first seen using 'class' now seen using 'struct'.
 2016-07-11 18:02:42 +08:00
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
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
Erwin Coumans
f5ffb11bc5 fix bus error on Raspberry Pi, unaligned float access when loading STL files 
fix pybullet Python 3 issue (PyString_FromString -> PyBytes_FromString and PyInt_FromLong -> PyLong_FromLong)
 2016-06-23 05:10:00 +00:00
Erwin Coumans
2b8bd58e1c support single-scalar scale values in URDF, even though "officially" it should be a vector3. This will load quadcopter.urdf in Drake: 
https://github.com/RobotLocomotion/drake/blob/master/drake/examples/Quadrotor/quadrotor.urdf
 2016-06-22 09:59:25 -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
yunfeibai
d51320be2c Check diffuse field in sdf. 2016-06-17 15:47:11 -07:00
Erwin Coumans
26f6618f00 colors for sdf 2016-06-17 12:07:38 -07:00
Erwin Coumans
bd668d11b0 add .stl file support in 'File/Open' of example browser. 2016-06-07 12:57:46 -07:00
erwin coumans
0b69ba7f61 Support the <static> field under <model> in SDF to make the model immovable, similar to setting the mass to zero. 
Add joint velocity motors in ImportSDF example.
 2016-06-02 18:04:22 -07:00
erwin coumans
f469a2cb49 update to tinyrenderer synthetic camera 2016-05-31 22:55:13 -07:00
Erwin Coumans
535ee33e3b fix build3/stringify.sh 
fix some compile issues
 2016-05-25 15:37:28 -07:00
erwincoumans
ef19248daf Update URDFImporterInterface.h 2016-05-24 10:30:04 -07:00
Erwin Coumans
b1adc0d9ef avoid API change in URDFImporterInterface 
fix .obj texture loading issue
 2016-05-24 09:01:03 -07:00