Commit Graph

328 Commits

Author SHA1 Message Date
Erwin Coumans
8e9181f85c [MJCF import] add custom broadphase collision filter, for MJCF/MuJoCo compatibility
[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
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
2017-01-15 22:26:11 -08:00
Erwin Coumans
310fabcd7e Further improvements in Bullet MuJoCo MJCF import:
[MJCF import] improved humanoid.xml, inverted_pendulum.xml import (automatically add dummy-links to connect multiple joints between bodies)
[MJCF import] fix bug in quaternion conversion (w,x,y,z) -> (x,y,z,w)
2017-01-15 11:22:24 -08:00
Erwin Coumans
7b7d897e3b explicitly mark dead code 2017-01-12 12:29:15 -08:00
Erwin Coumans
3d6584962a remove some memory leaks in example code. 2017-01-10 14:57:16 -08:00
Erwin Coumans
b773481266 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-07 09:30:49 -08:00
Erwin Coumans
afdcf69837 implement some dummy methods in URDFImporterInterface, some code
breaks because of un-implemented methods
2017-01-07 09:30:06 -08:00
erwincoumans
d37379ddc3 remove an extra quote in the BulletMJCFImporter.cpp 2017-01-06 14:53:10 -08:00
Erwin Coumans
c940f0ec47 update pybullet quickstart quide PDF
hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
2016-12-31 14:43:15 -08:00
Erwin Coumans
fdd517e00f First step towards a MuJoCo MJCF importer for Bullet. It can load the humanoid.xml, ant.xml and some other OpenAI GYM asset files. Not all fields are converted, so it is work-in-progress. This is useful for Reinforcement Learning experiments, and would also help integration with DeepMind Lab. 2016-12-30 18:32:57 -08:00
Erwin Coumans
82995a8343 pybullet, more robust multi-server connections
Windows shared memory: allow to use custom key.
Improve GUI performance on Windows, submit letters in text as a batch (fewer draw-calls)
quadruped.py: first try to connect to SHARED_MEMORY, if it fails (<0) use GUI
increase Chrome about://tracing json export capacity (press 'p' in Example Browser)
UDP physics server: add --port and --sharedMemoryKey command-line arguments
PhysicsServerExample: add --sharedMemoryKey command-line option (for VR example too)
ExampleBrowser: sleep a few milliseconds if rendering is too fast, use --minUpdateTimeMicroSecs=0 to disable
2016-12-28 21:51:54 -08:00
Erwin Coumans
15cda75130 add <restitution> in <contact> settings of URDF/SDF
allow 'useMaximalCoordinates' and 'useFixedBase' in pybullet.loadURDF.
enable split impulse for btRigidBody, even in btMultiBodyDynamicsWorld.
allow initialization of velocity and apply force for btRigidBody in pybullet/shared memory API.
process contact parameters in URDF also for btRigidBody (friction, restitution etc)
add pybullet.setPhysicsEngineParameter with numSolverIterations, useSplitImpulse etc.
2016-11-30 22:24:20 -08:00
erwincoumans
9bad64fed9 allow obsolete OpenGL2 drawer to render with z-up axis. 2016-11-12 11:59:40 -08:00
erwin coumans
7577c6d893 add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF. 2016-11-11 18:07:42 -08:00
erwincoumans
0d47d61007 pybullet getClosestPoints 2016-11-09 21:01:04 -08:00
erwin coumans
f97cb7002d first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API
b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
2016-10-18 22:05:28 -07:00
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
erwin coumans
2fc0358750 Expose a better API to allow any render engine to be used for the physics simulation when loading URDF/SDF files.
See bullet3/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
Give the kuka_iiwa/model.urdf some blue color, not just orange, to mimick the original a bit better
Preparation for the CMD_CAMERA_IMAGE_COMPLETED command, to expose a virtual camera to the robotics API
2016-05-19 18:37:15 -07:00
erwin coumans
9cc028d44c fix issue, some paths didn't return a value 2016-05-19 09:16:47 -07:00
erwin coumans
606f78da43 work-in-progress tinyrenderer -> shared memory API synthetic camera image 2016-05-17 23:57:19 -07:00
Erwin Coumans
d186320f30 fixes in rendering 2016-05-13 18:45:56 -07:00
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
yunfeibai
7929bee128 parse root transformation and test loading two robots 2016-05-11 15:52:50 -07:00
yunfeibai
06a2669b32 test load kuka arm sdf 2016-05-11 13:43:50 -07:00
yunfeibai
1bebcc6d9a Merge remote-tracking branch 'upstream/master' 2016-05-10 10:18:27 -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
erwin coumans
0a3efbe349 make standalone versions (console, tinyrender, opengl) of InverseDynamics/InverseDynamicsExample 2016-05-06 13:57:48 -07:00
erwin coumans
03bdcc8737 patch TinyRenderer so it software-renders in an OpenGL texture, for testing
fix texture support: flip texture to make OpenGL happy (lower-left is origin)
add path prefix to .obj loader, so materials/textures are loaded ok.
2016-04-26 20:52:52 -07:00
yunfeibai
cbeddfc897 Modify shared memory client example to test joint motor torque measurement. 2016-04-19 16:52:47 -07:00
Erwin Coumans
476eb342ab fix scaling in URDF importer 2016-04-18 17:41:54 -07:00
Erwin Coumans
f3c7f30684 fix some memory leaks in ImportURDF / PhysicsServerCommandProcessor 2016-04-11 16:42:02 -07:00
Erwin Coumans
5c1eb2ec07 support 'world' tag for fixed objects in URDF 2016-03-30 14:43:59 -07:00
erwincoumans
fe92de3e50 add infrastructure float btMultiBodyLink m_jointDamping, m_jointFriction (actual damping/friction is in a separate commit)
add door.urdf for testing damping/friction
2016-03-17 14:54:46 -07:00
Erwin Coumans
aa3daaa8c6 turn test/SharedMemory/test.c into a gtest for CI unit testing in github
remove overly verbose printfs in importers
fix axis in r2d2.urdf
2016-03-15 22:47:53 -07:00
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
erwincoumans
3b9b803683 b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API
Parse and use colors from URDF file (single rgba color per link, not per visual)
Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof'
btHashMap, add const Value* operator[]
remove a few more obsolete btMultiBody methods (on the non-multi-dof path)
fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill)
Add mention to Jakub Stepien for his work on btMultiBody
2015-11-06 17:11:15 -08:00
erwincoumans
2920d7e61f Only support btMultiBody multi-dof version (remove non-multi-dof path)
Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
2015-11-05 21:17:46 -08:00
Erwin Coumans
8a956318e5 fix case sensitive issue 2015-10-28 16:02:55 -07:00
Erwin Coumans
163b797d8b Update to ZLib license for GWEN files.
Note that our copy of GWEN is modified and GWEN is not under active development anymore.
We plan to integrate and modify GWEN further into the Bullet Example Browser or rewrite the GUI and drop GWEN

fix cube.obj and cube.mtl to enable textures
2015-10-25 11:30:34 -07:00
=
4df58c35c7 use const in PhysicsClientC_Api, thanks to Roland
fix some warnings for Clang, thanks to Aaron
2015-10-15 08:15:22 -07:00
=
8d26ff356d allow links without collision shapes in btMultiBody URDF importer 2015-09-25 17:00:44 -07:00
=
2257ec05ad don't compensate for COLLADA up axis in collision element for now
(todo: let user override COLLADA up axis, some URDF files are inconsistent)
2015-09-10 17:36:19 -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
dcab0e2b1f use multibody by default when using FILE/Open URDF (instead of maximal coordinate rigid body+typed constraints) 2015-08-06 00:35:03 -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
Erwin Coumans
26531f3fbc fix some warnings, disable gimpact by default in world importer,
use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now,
until we find the issue with some failing test cases in btMultiBody
fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable)
disable excessive debug printf in URDF2Bullet
2015-07-27 13:28:47 -07:00
Erwin Coumans
8e163c984d allow to control of powered joints after loading a URDF file, through shared memory
more refactor of shared memory joint control API
2015-07-20 23:35:29 -07:00
Erwin Coumans
26e175013d add prismatic.urdf test file and revert to r2d2.urdf in import example 2015-07-15 17:51:49 -07:00
Erwin Coumans
7698d5f95c fix some out-of-date comments in btMultiBody, thanks to Thomas Buschmann
disable disactivation for btRigidBody in import urdf demo, increase strength of joint motor for btMultiBody
2015-07-15 17:39:43 -07:00
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
Erwin Coumans
7f4beba7ee add forceFixedBase option for URDF import example 2015-07-07 15:39:36 -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
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
039174a809 add alternative URDF parser that doens't use ROS urdf 2015-06-28 14:09:21 -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
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
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
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
erwin
c9a630e7c6 rename loadUrdf -> loadMultiBodyFromUrdf in lua script
remove unused m_usrd2mblink
2015-05-14 09:16:13 -07:00
=
7eec0dc57d add enet for some client/server tests 2015-05-05 12:51:38 -07:00
Erwin Coumans
633ea613ab tweak gui description window size
use system clock for delta time
fix urdf file name
2015-05-04 16:52:43 -07:00
=
6ea35aa875 fix urdf relative path problem (don't use arrays on stack!) 2015-05-04 14:15:34 -07:00
erwincoumans
d50242fc27 add starting point for btGeneric6DofSpring2ConstraintData import, not all parameters are deserialized though
restore activation state after picking
add .bullet file import (only tested/available on Windows)
2015-05-01 16:27:09 -07:00
erwincoumans
218e9f9bf9 enable URDF loading throught the 'File/Open' menu
set a default camera targets for each demo. note that it is only reset when switching to a different demo, so you can restart at your chosen location.
no OpenCL pairbench drawing in OpenGL2 (there is no VBO available etc)
2015-05-01 11:42:14 -07:00
Erwin Coumans
c95fe654ad add example to import and export a binary .bullet file 2015-04-30 14:03:50 -07:00
erwin coumans
f9b8120e5d set upaxis for all demos (either Y/1 or Z/2) 2015-04-29 14:02:50 -07:00
erwin coumans
40375983d6 rename ExampleInterface -> CommonExampleInterface to be a little bit more consistent in 'CommonInterfaces' naming 2015-04-29 13:33:26 -07:00
erwin coumans
05bf86d95f added LICENSE.txt and AUTHORS.txt file
add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures.
add btMultiBody::setBaseWorldTransform method
todo: fix cmake build, this patch is premake only
2015-04-23 15:41:17 -07:00
erwin coumans
51938d642e prepare for 'custom' multi body creation. 2015-04-22 18:09:00 -07:00
erwin coumans
b64f5feba4 refactor of URDF importer (work-in-progress) 2015-04-22 16:35:27 -07:00
erwincoumans
60593f41ed make OpenGL2 version work (still very rudimentary, no filled rendering, only debug wireframe) 2015-04-16 23:46:01 -07:00
Erwin Coumans
b2ba615874 fixed for Mac in examples 2015-04-16 15:52:30 -07:00
erwincoumans
57d8567ca3 more example refactoring 2015-04-16 15:16:13 -07:00
erwincoumans
a1bf9c5556 add initial examples, replacing the 'Demos/Demos3'. Will make it work cross-platform, OpenGL3/OpenGL2 and add more examples to it. 2015-04-16 09:55:32 -07:00