Chuyuan Fu
08f53fc38d
add warmstart
2019-10-23 21:36:08 -07:00
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
ec4b3505a4
fix fixed constraint between btMultiBody and btRigidBody
2018-05-29 16:49:07 -07:00
Erwin Coumans
15cda75130
add <restitution> in <contact> settings of URDF/SDF
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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
Erwin Coumans
ecd814c9c5
export contact friction/damping through URDF and API
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convert from contact friction/damping to cfm/erp
btCollisionObject::setContactFrictionAndDamping
2016-09-02 16:40:56 -07:00
yunfeibai
9c4cfde3d6
Fixed constraint for btMultiBody and btRigidBody.
2016-08-15 13:19:00 -07:00
erwincoumans
2920d7e61f
Only support btMultiBody multi-dof version (remove non-multi-dof path)
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Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
2015-11-05 21:17:46 -08:00
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
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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'.
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See examples/MultiBody/TestJointTorqueSetup and examples/Constraints/TestHingeTorque for joint feedback.
2015-06-19 09:18:27 -07:00
Erwin Coumans
02fbcd2a05
reorder initializer
2015-06-11 11:48:43 -07:00
Erwin Coumans
1a4ce475f7
fix an issue with btMultiBodyConstraint, automatically 'finalizeMultiDof' to pre-allocate jacobian data
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enable joint limit for slider/prismatic joint in btMultiBody version of URDF loader
2015-06-05 11:46:53 -07:00
erwin coumans
5d40d90bd0
add btMultiBodyConstraint::finalizeMultiDof API: if you add multi-body constraints to a multi-dof btMultiBody, before it has been finalized using the btMultiBody::finalizeMultiDof call,
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then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.
2015-03-03 13:24:06 -08:00
erwin coumans
cf2b4e03b5
fix a problem in the btMultiBodyConstraint related to self-collision, see also
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https://github.com/bulletphysics/bullet3/issues/290
2014-12-09 16:57:21 -08:00
Erwin Coumans
af5883c6e8
remove a lot of warnings (more todo in demos and serialization code)
2014-08-22 10:29:05 -07:00
kubas
ef6abf6490
unified btMultiBodyConstrained::fillMultiBodyConstraint..(...) mtds + cleaned some of the earlier dirty changes (6DoF grabbing constraint stuff mainly)
2014-01-09 01:09:44 +01:00
kubas
0ba7d69f86
fixed a jacobian sizing bug (m_jacSizeBoth)
2014-01-09 01:07:53 +01:00
kubas
eb66b22034
dirty commit: starting to unify btMultiBoydConstraint::fillMultiBodyConstraint..(..)
2014-01-09 01:06:58 +01:00
kubas
81447aa7c5
dirty commit: experimenting with the 6DoF grabbing/p2p constraint
2014-01-09 01:03:20 +01:00
kubas
cb556f9525
dirty changes - stabilization hacks
2014-01-09 00:51:42 +01:00
kubas
96ff69276f
multidof4 patch
2014-01-09 00:26:24 +01:00
erwin.coumans
0024c87316
move the m_maxAppliedImpulse into base class, and use it for motor strength/point to point constraint strength
2013-10-22 21:49:52 +00:00
erwin.coumans@gmail.com
34d975143e
expose maximum applied impulse for btMultiBody, introduced to reduce/avoid 'exploding' simulations
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use btScalar instead of float, to enable double precision build, fix for Issue 744
2013-10-06 17:13:08 +00:00
erwin.coumans@gmail.com
488dd44835
Added btMultiBodyPoint2Point, it can be used between btMultiBody vs btMultiBody or btMultiBody vs btRigidBody
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Allow picking of btMultiBody, using a btMultiBodyPoint2Point constraint, with limited strength to avoid adding too much energy to the system (= blowup)
Add btMultiBodyJointMotor, it can be used in combination with joint limit (just add the joint limit after the motor, to avoid jitter)
2013-10-05 01:46:32 +00:00
