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4,109 Commits 19 Branches 27 Tags 326 MiB
f7522873f9
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540 Commits

Author SHA1 Message Date
Erwin Coumans (Google)
f7522873f9 fix compile issue on Linux 2016-09-01 22:11:07 -07:00
Erwin Coumans
fe54f146ad Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-01 21:26:38 -07:00
Erwin Coumans
e98fca1e5e implement pybullet.getContactPointData(), two optional object unique ids as filter 
returns a pylist of contact points. Each point has the following data:

	0     int m_contactFlags;//unused for now
         1     int m_bodyUniqueIdA;
         2     int m_bodyUniqueIdB;
         3     int m_linkIndexA;
         4     int m_linkIndexB;
         5-6-7     double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
         8-9-10     double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
         11-12-13     double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
         14     double m_contactDistance;//negative number is penetration, positive is distance.

         15    double m_normalForce;
 2016-09-01 18:28:39 -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
erwincoumans
fe46ee8adf Merge branch 'master' of https://github.com/erwincoumans/bullet3 
Conflicts:
	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2016-09-01 13:32:07 -07:00
erwincoumans
85fd7f560c add first draft of contact point query in shared memory API 
b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData);
Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet.
Add btCollisionObject::setUserIndex2
 2016-09-01 13:30:07 -07:00
Jeffrey Bingham
1c65cae6d0 [SharedMemory] Calculate inverse dynamics now uses world gravity. 
Small change that takes the world gravity and applies it to the
body during the call to inverse dynamics in the shared memory
interface. Otherwise the gravity vector is left at the default
value and there is currently no interface to set the gravity
for the inverse dynamics system.
 2016-09-01 10:46:34 -07:00
erwincoumans
7790ee2f02 fix compile issue with pybullet.c on Visual Studio 2016-08-31 16:05:42 -07:00
yunfeibai
9c124b5896 Rolling friction demo for sphere and torsional friction demo for two point contact. 2016-08-30 17:50:37 -07:00
Erwin Coumans
e6865a1186 Merge remote-tracking branch 'bp/master' 2016-08-30 14:44:35 -07:00
Erwin Coumans
a30ff20e6b preparation for KUKA IK tracking example 2016-08-30 14:44:11 -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
900fd86d58 fix R2D2GraspExample 2016-08-29 12:35:02 -07:00
Erwin Coumans
e47c74ce0b prevent crash when using --opengl2 option in ExampleBrowser. 2016-08-29 11:48:31 -07:00
erwin coumans
4094b9f0df Disable 'm_robotSim.setNumSimulationSubSteps' because it is not needed at the moment 
Fix issue in contact/friction between btMultibody and btRigidBody (external force/torque of btRigidBody was not taken into account during contact/friction setup)
Allow 0.1 mm slop in contact, to avoid loosing contact. Todo: allow contacts with positive distance in multibody solver.
 2016-08-27 13:44:18 -07:00
erwincoumans
c741b17da8 Merge pull request #758 from YunfeiBai/master 
Expose slider constraint in RobotSimAPI.
 2016-08-26 12:26:08 -07:00
erwincoumans
79be5800cb Merge pull request #757 from erwincoumans/master 
fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBo…
 2016-08-26 12:08:29 -07:00
yunfeibai
5b9b5178f9 Expose slider constraint in RobotSimAPI. 2016-08-26 10:35:10 -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
yunfeibai
c26da8440d Add slider constraint. 2016-08-25 11:54:59 -07:00
yunfeibai
758ca025d5 Set physics clock subdivider. 2016-08-24 14:25:06 -07:00
yunfeibai
3b25489d89 Further fix for integration test. 2016-08-24 12:44:24 -07:00
yunfeibai
ecbf94abaa Fix issues in build test. 2016-08-24 11:31:08 -07:00
yunfeibai
d46710e447 Expose fixed constraint in RobotSimAPI. 2016-08-22 18:14:29 -07:00
yunfeibai
8eccac6fd8 Update CMakeLists to be the same as upstream. 2016-08-22 10:26:56 -07:00
YunfeiBai
6751648bce add some micro-sleep to prevent 100% CPU/memory bus hogging, preventing the graphics thread from making progress. 
debug draw color black for contact normal
move debug draw option for constraint frames into 'k' key.
 2016-08-19 13:58:53 -07:00
YunfeiBai
94161246d9 Merge remote-tracking branch 'bp/master' 2016-08-19 12:02:48 -07:00
YunfeiBai
4611f5f097 Merge branch 'master' of https://github.com/YunfeiBai/bullet3 2016-08-19 12:01:09 -07:00
YunfeiBai
d26c424e11 modify cmake for pybullet 2016-08-19 12:00:55 -07:00
Erwin Coumans
7db9a020b9 debug draw contact normals (1cm) use black color 2016-08-19 10:55:21 -07:00
erwin coumans
62d5b7c5c0 add single step simulation, using 'o' key. use 'i' key to suspend simulation first 
default background color a bit darker, to show debug lines
tweaked contact point rendering a bit
 2016-08-19 10:30:02 -07:00
erwin coumans
a68c9ca845 avoid MT crash in VR/physics server due to printf from separate thread. 
add fps display in VR
use 1./240. internal substep for real-time physics sim in VR/physics server for more accurate robotics sim.
 2016-08-18 21:43:43 -07:00
Erwin Coumans
91839cb274 revert change of default position control in shared memory api/pybullet 2016-08-18 16:48:14 -07:00
erwin coumans
8c2b1386ce Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-18 15:54:43 -07:00
erwin coumans
2c636b52f7 bugfix: in torque control mode, torque index starts at 6. 2016-08-18 15:36:18 -07:00
Erwin Coumans
ab8f498d18 avoid infinite recursion in b3Clock::usleep 2016-08-18 13:44:04 -07:00
erwin coumans
5b0253ed47 Remove undesired assert, it makes pybullet mistakes fail in c++ 
Shared memory api/pybullet: by default, set joint motors in position PD mode with target 0, to maintain 0 joint angle.
pybullet: allow setJointControlMode(body, link, POSITION_CONTROL,targetPos etc.
 2016-08-18 13:10:28 -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
8f21e2bca9 fix compile issue 2016-08-17 20:01:45 -07:00
Erwin Coumans
17c16ccfa0 pybullet, deal with overflow of joints (maximum of 128 joints/links per multibody at the moment) 
increase from 64 to 128 joints in shared memory API/pybullet
fix potential issue in tinyrenderer, related to missing segmentation mask buffer
report error if CMD_REQUEST_ACTUAL_STATE command on a multibody that exceed the number of links,
todo: stream data to allow arbitrary large number of links in shared memory API
 2016-08-17 19:35:52 -07:00
Erwin Coumans
7c9441c3f5 by default, have a strong force keep the robot together, instead of floppy joints. 2016-08-17 10:30:50 -07:00
Erwin Coumans
dce73f48ae Merge remote-tracking branch 'bp/master' 2016-08-17 10:24:12 -07:00
Erwin Coumans
463f3e59c8 minor tweak in F1/screenshot handling. Note you can use --png_skip_frames=x command-line argument 2016-08-17 10:18:33 -07:00
yunfeibai
591f922d97 Support loading Urdf as btRigidBody with RobotSimAPI. Loading Sdf as btRigidBody is work in progress. 2016-08-16 17:56:30 -07:00
yunfeibai
4bc31394a0 Allow choosing loaded as btRigidBody with RobotSimAPI. 2016-08-16 16:57:48 -07:00
yunfeibai
9c4cfde3d6 Fixed constraint for btMultiBody and btRigidBody. 2016-08-15 13:19:00 -07:00
Erwin Coumans
985a6c203f fix typo 2016-08-13 12:38:40 -07:00
erwin coumans
3bdcf23a05 Add sleep to avoid 100% busy CPU loop in PhysicsServerExample 
Added btClock::usleep
Fix broken TinyRenderer example code.
 2016-08-13 12:21:18 -07:00
Erwin Coumans
238ba8c642 remote a c++11-style constructor 2016-08-12 14:28:02 -07:00