Xuchen Han
78a8ddb466
change default damping model for mass spring to the angular momentum conserving one
2019-12-31 14:08:21 -08:00
Xuchen Han
6a8973d2f4
address PR comment and tune parameters for cloth
2019-12-19 21:51:54 -08:00
Xuchen Han
d38ea87027
add gripper with deformable cloth demo
2019-12-13 14:33:54 -08:00
Chuyuan Fu
ee10d47b17
fix space
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fix space
2019-05-02 14:15:18 -07:00
Chuyuan Fu
3fb0a7c19b
add set starting position and orientation to softbody
2019-05-01 16:56:40 -07:00
erwincoumans
0af0f193ee
reduce size of SharedMemoryStatus by moving state details into shared memory streaming block.
2019-03-06 23:27:59 -08:00
erwincoumans
ab8f16961e
Code-style consistency improvement:
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Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 14:17:31 -07:00
erwincoumans
08d84d6ce3
fix getLinkState usage
2018-06-12 17:00:16 -07:00
Erwin Coumans
57b3e0d221
Move from b3Vector3 to btVector3 to support double precision in examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI API.
2018-05-27 10:42:33 +10:00
yunfeibai
d3bc98e245
Add filename as an argument in the softbody loading function.
2018-01-07 19:56:46 -08:00
yunfeibai
d077bdec07
Change the API names for loading softbody.
2018-01-07 19:24:37 -08:00
yunfeibai
e3e9546960
Load the deformable object through obj file. Modify the demo for two way coupling between multibody and softbody.
2018-01-07 19:06:09 -08:00
erwincoumans
a651cb9ab4
Implement first pass of transparent graphics object for GLInstancingRenderer
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remove 'enableBlend' from API, graphics instances use alpha component instead
fix forward axis for SimpleCamera
2017-06-24 13:41:33 -07:00
yunfeibai
e6d1a8cf97
Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.
2017-06-01 15:30:37 -07:00
Erwin Coumans
433d11d8cf
Add a btIDEbugDraw::clearLines, helps multi-threaded rendering of lines (while updating those lines in a dynamics world in a different thread)
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Expose COV_ENABLE_VR_RENDER_CONTROLLERS, to enable/disable rendering of controllers (and some frames) in VR
Expose COV_ENABLE_RENDERING to enable/disable rendering.
Fix some multi-threading issues (potential crashes), related to debug drawing/rendering in one thread, while changing the dynamics world/removing/resetSimulation in a different thread.
2017-05-16 12:19:03 -07:00
Erwin Coumans
ef7a7f9004
Potential fix for Linux slow performance (usleep(0) takes a lot of time)
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Remove b3RobotSimAPI, use RobotSimulator/b3RobotSimulatorClientAPI.h instead
2017-05-13 13:37:49 -07:00
Erwin Coumans
0944790577
migrating from b3RobotSimAPI to b3RobotSimulatorClientAPI (step by step)
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allow to run the client/server code in the example browser without this b3RobotSimAPI hack.
2017-05-13 11:15:20 -07:00
Erwin Coumans
152e3da3e4
Implementation of virtual void CommonRenderInterface::removeGraphicsInstance(int instanceUid)
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for GLInstancingRenderer (OpenGL3+) and SimpleOpenGL2Renderer (OpenGL2)
Refactored the add/remove object pool in Bullet3Common/b3ResizablePool.h
Added CommonRigidBodyBase::deleteRigidBody, also removing its graphics instance.
2017-05-03 17:05:05 -07:00
Erwin Coumans
8f546acbe8
disable keyboard toggle in Linux/X11
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revert num solver iterations to 50 (from 150)
set solver iterations for one gripper grasp to 150
2017-02-16 15:56:42 -08:00
Erwin Coumans
63486a712c
VR video recording, use command-line --mp4=videoname.mp4
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tune gripper grasp example with tefal pan, 800Newton force.
URDF importer: if using single transform 1 child shape, don't use compound shape.
if renderGUI is false, don't intercept mouse clicks
add manyspheres.py example (performance is pretty bad, will look into it)
[pybullet] expose contactBreakingThreshold
2017-02-16 14:19:09 -08:00
yunfeibai
ce9378f819
Add shared memory API and RobotSim API for setting joint damping in IK.
2017-02-03 11:08:44 -08:00
yunfeibai
0022d0dafb
Modify damped least square IK formulation. Test setting joint damping coefficients for IK.
2017-01-31 22:58:37 -08:00
Erwin Coumans
8e9181f85c
[MJCF import] add custom broadphase collision filter, for MJCF/MuJoCo compatibility
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[MJCF import] improve MuJoCo importer, support collision filters
fixed a few more warnings
2017-01-16 08:23:49 -08:00
Erwin Coumans
c0c4c8ba3f
fix many warnings
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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
2017-01-15 22:26:11 -08:00
Erwin Coumans
3d6584962a
remove some memory leaks in example code.
2017-01-10 14:57:16 -08:00
Erwin Coumans
0092a1a55d
fix API to use b3InitCreateUserConstraintCommand instead of b3CreateJoint
2016-11-14 16:14:27 -08:00
Erwin Coumans
c521d816c6
add user debug line/text features in pybullet + shared memory API:
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addUserDebugLine,
addUserDebugText
removeUserDebugItem
removeAllUserDebugItems
2016-11-14 07:39:34 -08:00
erwincoumans
ff2738db26
Merge remote-tracking branch 'bp/master'
2016-11-04 13:16:55 -07:00
erwincoumans
9708392322
work-in-progress
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add UDP network connection for physics client <-> server.
also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 13:15:10 -07:00
yunfeibai
479497997c
Add grasp bunny example with multibody gripper.
2016-11-02 14:53:28 -07:00
yunfeibai
ab6ce65abe
Add contact handling between multibody and softbody.
2016-11-02 13:21:01 -07:00
yunfeibai
295c1b7c88
Modify the setup for grasping bunny example.
2016-11-02 12:49:51 -07:00
yunfeibai
3c37db0804
Add API to set bunny properties. Add example to show coupling between softbody and multibody.
2016-11-01 16:45:10 -07:00
yunfeibai
9d54f0cf8d
Grasp soft body with rigid fingers.
2016-11-01 15:46:09 -07:00
yunfeibai
14fc8ae8c2
Restore original demo settings.
2016-10-17 13:19:34 -07:00
yunfeibai
b07df4d504
Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example.
2016-10-17 13:01:04 -07:00
yunfeibai
880ee097fa
Simulate bunny in grasp demo and set collision margin.
2016-10-12 15:34:45 -07:00
yunfeibai
379f2ac933
Load bunny to to the world in the grasp demo.
2016-10-12 11:51:04 -07:00
yunfeibai
4fe86d2a1d
Add btSoftMultiBodyDynamicsWorld.
2016-10-11 16:15:44 -07:00
yunfeibai
7e8d8b0488
Expose rest pose for null space task to API.
2016-09-30 01:03:40 -07:00
yunfeibai
1c1d3db26d
An example to compare with and without null space task in IK.
2016-09-30 00:43:15 -07:00
yunfeibai
ee00696ae9
Test four IK modes: with and without orientation constraint, with and without null space task.
2016-09-30 00:15:51 -07:00
yunfeibai
fd3cb061cb
Expose IK with null space task to shared memory API and RobotSimAPI.
2016-09-30 00:05:00 -07:00
yunfeibai
29f890ae10
Add desired null space velocity computation.
2016-09-29 22:45:31 -07:00
yunfeibai
dd10dd6a3f
Add a new one motor gripper to use Featherstone for slider and constraint for revolute joint.
2016-09-29 12:07:00 -07:00
erwincoumans
666c8f47b7
Merge pull request #800 from bulletphysics/iktest
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Iktest
2016-09-23 07:40:09 -07:00
erwin coumans
e356f4f1f6
add test end-effector for Kuka iiwa (IK)
2016-09-22 19:48:26 -07:00
erwin coumans
310a330572
fix InverseKinematics+API for a case without tree (custom build Jacobian)
2016-09-22 13:27:09 -07:00
yunfeibai
27fab2adb5
Create a demo for one motor gripper grasp.
2016-09-21 12:08:03 -07:00
yunfeibai
bf16c87987
Add orientation constraint to IK.
2016-09-19 17:04:05 -07:00
