Commit Graph

3328 Commits

Author SHA1 Message Date
erwincoumans
f6f76901fd First draft of btMultiBody serialization, including optional names for base, link and joints (see ImportURDFDemo/ImportURDFSetup.cpp how this is done)
Bump up version number to 2.84 because of new serialization data.
2015-07-09 17:36:00 -07:00
erwincoumans
285ac286fa some work towards streaming Bullet data over shared memory for client/server 2015-07-09 14:04:58 -07:00
Erwin Coumans
7f4beba7ee add forceFixedBase option for URDF import example 2015-07-07 15:39:36 -07:00
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272ffeb232 add example for btMultiBody constraint and joint feedback 2015-07-07 08:32:02 -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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33b0d429ba apply newForceTorque.diff patch: it will allow to report
joint reaction force/torque, while using impulse-based response
for btMultiBody
2015-07-06 16:40:09 -07:00
erwincoumans
4630d0abb1 fix windows build for b3ResourcePath
replace print -> b3Printf in URDF2Bullet.cpp
2015-07-03 18:54:41 -07:00
Erwin Coumans (Google)
8517e85b21 fix various warning
add b3ResourcePath utility, to locate resources relative to executable
2015-07-03 18:17:14 -07:00
erwincoumans
4a9441c5fd Merge pull request #414 from erwincoumans/master
add alternative URDF parser that doens't use ROS urdf
2015-07-02 11:30:06 -07:00
Erwin Coumans
45d4816c44 fix case-sensitivity issue 2015-07-01 08:58:14 -07:00
erwincoumans
e7bafbc71c make Bullet URDF parser more similar to the ROS URDF parser. There is still a difference in ordering of links,
due to the use of different hash-map implementations, with a difference in iterator order
(btHashMap versus std::hashmap)
2015-06-29 21:30:44 -07:00
Erwin Coumans
3fbe9f63ef more case-sensitivity fixes 2015-06-28 22:12:59 -07:00
Erwin Coumans
5d44d596ed fix build system (case sensitive filename) 2015-06-28 22:00:03 -07:00
Erwin Coumans
f8add8bba0 fixes in build system for URDF parser 2015-06-28 21:21:57 -07:00
Erwin Coumans
039174a809 add alternative URDF parser that doens't use ROS urdf 2015-06-28 14:09:21 -07:00
erwincoumans
3da6763371 Merge pull request #411 from erwincoumans/master
more work on btMultiBody joint force/torque feedback, velocity target control for rigid body urdf importer
2015-06-26 13:00:38 -07:00
Erwin Coumans
bc8b95dd9d remove some warnings 2015-06-26 12:59:48 -07:00
erwin coumans
3b4ad1cd5a add the option to shift the applied force/torque for a multibody joint (mobilizer) to the joint frame origin 2015-06-25 15:09:35 -07:00
Erwin Coumans
6a282601cf Merge remote-tracking branch 'bp/master' 2015-06-24 23:46:54 -07:00
Erwin Coumans
bdab994208 re-enable gravity for import urdf demo (accidently turned it off for debugging) 2015-06-24 23:27:50 -07:00
Erwin Coumans
d830681674 add option for rigid body/typed constraint to set target velocity
compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
2015-06-24 23:19:00 -07:00
erwin coumans
b14afba350 more work-in-progress on joint-torque sensor sample and server/client shared memory API 2015-06-22 15:30:57 -07:00
Erwin Coumans
4688540a98 minor update for shared memory interface 2015-06-21 13:24:36 -07:00
erwincoumans
0a086c8492 Merge pull request #410 from erwincoumans/master
support joint force/torque feedback for btMultiBody internal joints (mobilizers)
2015-06-20 21:43:32 -07:00
erwin coumans
6e9eb13235 implement joint reaction forces for mobilizer motor/limit, by passing the constraint forces as 'external forces' and going through the Articulated Body Algorithm
minor refactor for forwardKinematics, store the cached world transform in each btMultiBody::link
2015-06-19 15:51:24 -07:00
erwincoumans
89edc40d61 First step in btMultiBody joint force/torque feedback. There is still some work to be done for 'mobilizer limit/motor'.
See examples/MultiBody/TestJointTorqueSetup and examples/Constraints/TestHingeTorque for joint feedback.
2015-06-19 09:18:27 -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
erwincoumans
1fa4819afc Merge pull request #408 from erwincoumans/master
more work on shared memory example (still preliminary), and fix of infinite recursion in 'getMargin'
2015-06-11 12:16:30 -07:00
Erwin Coumans
02fbcd2a05 reorder initializer 2015-06-11 11:48:43 -07:00
erwin coumans
2d79dda032 prepare for joint/torque feedback. First for btRigidBody, then btMultiBody. 2015-06-09 18:13:05 -07:00
erwin coumans
2c3db1c631 Add a "add button" option in the CommonParameterInterface and implement it for Gwen.
Add some buttons for shared memory requests in the PhysicsClient
2015-06-09 16:51:55 -07:00
Erwin Coumans
92a612a146 fix in btSoftBodyInternals.h to avoid infinite recursion 'getMargin'
but call base class instead
2015-06-05 16:43:17 -07:00
erwincoumans
2c6cf94bdf Merge pull request #397 from erwincoumans/master
simple lua script test, fix relative path issue in urdf importer
2015-06-05 14:47:51 -07:00
Erwin Coumans
1a4ce475f7 fix an issue with btMultiBodyConstraint, automatically 'finalizeMultiDof' to pre-allocate jacobian data
enable joint limit for slider/prismatic joint in btMultiBody version of URDF loader
2015-06-05 11:46:53 -07:00
erwin coumans
a94ac6300a add Windows version of shared memory, very basic implementation (only allows one single allocation) 2015-06-04 15:37:18 -07:00
Erwin Coumans
f74e3782aa enable prismatic joint motor in URDF demo, by default. Thanks to Takuya!
prepare for prismatic joint limit for btMultiBody in the URDF demo.
There is an issue with it, working on fixing this.
2015-06-03 18:02:15 -07:00
Erwin Coumans
85acb2a009 fix an OpenGL performance issue running on some Linux machines
(apparently searching for a framebuffer with more samples makes NVIDIA Quadro slow)
2015-06-03 17:18:56 -07:00
Erwin Coumans (Google)
190382e9ec enable posix shared memory on non-Win32 platforms (Linux and Mac) for example browser 2015-05-30 20:32:29 -07:00
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c28afd2242 add missing files 2015-05-29 15:38:32 -07:00
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fcb5dac567 fix cmake build and travis/CI 2015-05-29 15:10:52 -07:00
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bc806ab68c exit gracefully and call destructor of the current active example
fflush after printf
implemented stepForward and Shutdown for the SharedMemory client/server
2015-05-29 15:04:05 -07:00
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ff15d36edf Merge remote-tracking branch 'bp/master' 2015-05-29 11:38:57 -07:00
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6fedad9db7 fix SharedMemory premake file 2015-05-29 11:37:21 -07:00
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7abefca6f1 small improvement to the shared memory physics server/client 2015-05-28 17:49:55 -07:00
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82576d0bee added preliminary shared memory physics client/server
fix a bug in CommonMultiBodyBase: don't use data if it hasn't been allocated
2015-05-28 16:05:24 -07:00
erwincoumans
8005b7167e Update README.md
trigger a new build
2015-05-27 16:12:45 -07:00
Erwin Coumans
becd7cacd8 fix relative path of visual/collision mesh, it might be different from the urdf relative path
(.obj loader terminates if it cannot find the material file)
2015-05-27 15:43:33 -07:00
erwincoumans
8c0727bf95 Merge pull request #392 from GaborPuhr/master
Auto limitation of spring stiffness and damping in btGeneric6DofSprin…
2015-05-27 13:06:41 -07:00
Gabor Puhr
98e1334a64 Auto limitation of spring stiffness and damping in btGeneric6DofSpring2Constraint is now optional.
Fix: spring stiffness limitation used the mass incorrectly in btGeneric6DofSpring2Constraint.
2015-05-22 12:58:28 +02:00
erwin
c9a630e7c6 rename loadUrdf -> loadMultiBodyFromUrdf in lua script
remove unused m_usrd2mblink
2015-05-14 09:16:13 -07:00