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Author SHA1 Message Date
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 5bf125cab5 fix some compile issues using premake 
use textured cube/sphere model for test
 2016-06-02 13:54:52 -07:00
Erwin Coumans aa4d2ae01d initial hookup of TinyRenderer to shared memory interface 2016-06-01 17:47:41 -07:00
erwin coumans 9a5394c4bc fix cmake build 2016-06-01 11:07:39 -07:00
erwin coumans ef85a71d4b more work on synthetic camera 2016-06-01 11:04:10 -07:00
erwin coumans f469a2cb49 update to tinyrenderer synthetic camera 2016-05-31 22:55:13 -07:00
erwin coumans 14aa666c6f preparation to receive camera image data from physics server 
increase shadowmap world size default to 50 units (meter), 10 units (meter) was too small for most examples.
 2016-05-31 10:23:04 -07:00
Erwin Coumans de9bd65c19 fix compile issues 2016-05-26 19:22:26 -07:00
Erwin Coumans 098e0158ea fix compile issue(s) in BT_USE_DOUBLE_PRECISION mode 2016-05-26 18:21:57 -07:00
erwin coumans 0d50d8c73b Preliminary working version of TinyRenderer for standalone demos, 
it works without OpenGL dependency now, so it runs in the cloud :-)
Add scaling support for TinyRenderer, remove some un-used normal mapping in TinyRenderer shader, expose light_dir_world,
remove accidental hard-coded path in tga write_tga_file,
Fix InverseDynamicsExampleCreateFunc, enum has to start at 0
 2016-05-26 17:36:01 -07:00
erwin coumans 68545fb71a fix pybullet.getPositionAndOrientation crash/issues 2016-05-26 15:58:10 -07:00
Erwin Coumans c6bf3a7261 revert sat contact kernels update 2016-05-25 17:14:30 -07:00
Erwin Coumans 535ee33e3b fix build3/stringify.sh 
fix some compile issues
 2016-05-25 15:37:28 -07:00
Erwin Coumans bd1620eda8 add pybullet.getBasePositionAndOrientation 
add missing file to pybullet CMakeLists.txt
 2016-05-24 15:29:26 -07:00
Erwin Coumans 42d3f42b9f re-add CMakeLists.txt accidently removed 2016-05-24 09:09:37 -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 f4775c360f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-05-19 09:19:44 -07:00
erwin coumans b961545292 prepare support for VR 2016-05-19 09:19:36 -07:00
erwin coumans 9cc028d44c fix issue, some paths didn't return a value 2016-05-19 09:16:47 -07:00
Erwin Coumans cf1012aa3d minor update in TinyRenderer example 2016-05-18 18:32:13 -07:00
Erwin Coumans c2a5b08e35 add a few test files for TinyRenderer software renderer 2016-05-18 17:58:44 -07:00
Erwin Coumans fb2134f15f add combobox to select software/opengl rendering to compare 2016-05-18 17:57:13 -07:00
Erwin Coumans 7994a339ee disable RTC update for Physics Server by default 2016-05-18 16:21:40 -07:00
Erwin Coumans 5500fc81df fix #include 2016-05-18 16:01:36 -07:00
Erwin Coumans cdd6954ada fix pybullet cmake compilation 2016-05-18 15:07:42 -07:00
erwin coumans a395ddcb06 add option to embed a physics server in the physics client example, for easier debugging 2016-05-18 09:34:42 -07:00
erwin coumans f6517b64eb Merge remote-tracking branch 'bp/master' 2016-05-18 08:08:03 -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 876c9e57fe fixes 2016-05-13 22:57:41 -07:00
Erwin Coumans be7d07a193 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-05-13 22:42:25 -07:00
Erwin Coumans 20e39d0abf fix premake build 2016-05-13 19:01:40 -07:00
Erwin Coumans 3f0d8d8dd0 Merge remote-tracking branch 'bp/master' 2016-05-13 18:46:07 -07:00
Erwin Coumans d186320f30 fixes in rendering 2016-05-13 18:45:56 -07:00
Erwin Coumans a725d59480 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-05-12 23:13:44 -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
erwin coumans 99073e03f7 Allow to compile pybullet on Windows, using CMake 
(got it to run, rename pybullet.dll into pybullet.pyd and copy in c:\python34\dlls)
Update test.py
Allow to compile pybullet using Python 3.x and 2.7
 2016-05-10 00:57:54 -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 2fee43b021 copy the data folder into the cmake build directory, for the ExampleBrowser 
out-of-source builds of Example Browser don't find their resources...
 2016-05-09 14:03:13 -07:00
erwin coumans aae9e509a9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-05-06 13:58:21 -07:00
erwin coumans 0a3efbe349 make standalone versions (console, tinyrender, opengl) of InverseDynamics/InverseDynamicsExample 2016-05-06 13:57:48 -07:00
Erwin Coumans 85368973a1 When using cmake -DBUILD_PYBULLET=ON, force BUILD_SHARED_LIBS option 2016-05-04 13:46:55 -07:00
Erwin Coumans b0a4e126bf use cmake FIND_PACKAGE(PythonLibs 2.7 REQUIRED) if pybullet is build 2016-05-04 13:24:06 -07:00
Erwin Coumans 372c4ef9c1 Add btConvexHullShape::optimizeConvexHull method, 
it automatically removes vertices that are not on the convex hull.
It uses the btConvexHullComputer for this.
 2016-05-04 13:01:06 -07:00
Erwin Coumans (Google) 194009f46e linux fixes 2016-05-04 00:17:39 -07:00
erwin coumans 8360e2e66d windows fixes 2016-05-04 00:16:53 -07:00
Erwin Coumans 0d3440b388 fixes in Mac resizing example browser (if window size exceeds capability) 2016-05-03 23:46:29 -07:00
Erwin Coumans f0b9037cd2 tweak cmake, add option BUILD_PYBULLET 2016-05-03 23:42:19 -07:00
Erwin Coumans 938db633df fixes in build system 2016-05-03 23:34:48 -07:00
Erwin Coumans 7a833a7ac2 fix target link libs in cmake 2016-05-03 22:05:30 -07:00
Erwin Coumans a251ff4331 add 'dl' target libs in cmake 2016-05-03 21:48:28 -07:00
Erwin Coumans a9ef145910 add standalone opengl version of BasicExample for cmake, called BasicExampleGui 2016-05-03 21:27:30 -07:00
Erwin Coumans 709a55d5ab add CMake support for pybullet (still preliminary) 
requires shared library build:
cmake .. -DBUILD_SHARED_LIBS=on
then create a symbolic link from libpybullet.so to pybullet.so
 2016-05-03 13:03:12 -07:00
Erwin Coumans fb65c29033 use "world" to make door static (instead of using mass = 0) 
minor improvements to pybullet
 2016-05-03 12:59:21 -07:00
erwin coumans 984c880b2c move 'main' functions into a separate folder, to make it easier to create standalone demos (console app without gui, or opengl app, and possibly even other versions, like a software renderer, producing pictures in the cloud) 
Add a line in an example cpp file to allow a standalone version.
See examples/BasicExample.cpp: B3_STANDALONE_EXAMPLE(BasicExampleCreateFunc)
 2016-05-01 14:52:27 -07:00
Erwin Coumans ab4299f517 expose the local inertial frame for each link in the shared memory API 
struct b3LinkState
{
    double m_worldPosition[3];//this is the inertial frame
    double m_worldOrientation[4];

    double m_localInertialPosition[3];//this is the local frame from inertial to link frame
    double m_localInertialOrientation[4];
};

  const btTransform link_frame_world =
               inertial_frame_world * m_local_inertial_frame->inverse();
 2016-04-29 14:46:25 -07:00
Erwin Coumans aa9a276a71 fix typo in texels flip 
add support to create a cube in TinyRenderer (quick test)
 2016-04-28 23:01:49 -07:00
Erwin Coumans 615effa4d9 fix typo in texels flip 
add support to create a cube in TinyRenderer (quick test)
 2016-04-28 12:28:04 -07:00
Erwin Coumans a3767193ce add example to use BasicDemo with an OpenGL Window, without example browser 2016-04-27 09:55:42 -07:00
erwin coumans 40841e9078 revert floor.obj test file, load it by default in TinyRenderer/main.cpp 2016-04-26 21:01:46 -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
erwin coumans 2cb39e358a add unmodified version of TinyRenderer, a 500 line software renderer with vertex and pixel shaders, texture mapping and Wavefront .obj support. 2016-04-26 20:47:10 -07:00
Erwin Coumans edba85bab3 fix issue in X11OpenGLWindow (uninitialized variable causing issue at exit) 2016-04-25 19:19:19 -07:00
Erwin Coumans 64cfbacf0a Merge remote-tracking branch 'bp/master' 2016-04-25 13:24:18 -07:00
Erwin Coumans 778ce5296d add example of rendering a cube in SimpleOpenGL3 2016-04-25 13:21:56 -07:00
Erwin Coumans f99d1c45aa expose multibody link world transform in the shared memory API 2016-04-23 17:29:46 -07:00
Erwin Coumans (Google) 67426ecee9 add missing stubs for the obsolete SimpleOpenGL2Renderer 2016-04-21 14:10:45 -07:00
Erwin Coumans 4e61f0cab9 add function to CommonRenderInterface to update/activate a texture 
add example how to render a texture 2d quad in SimpleOpenGL3
 2016-04-20 12:55:21 -07:00
Erwin Coumans da948a0729 fix text rendering (uninitialized uniforms) 2016-04-19 18:21:53 -07:00
Erwin Coumans 0f5ee7a0a9 rename m_jointForce -> m_jointMotorForce to separate the name from m_jointForceTorque (which should have been called m_jointReactionForce) 2016-04-19 12:22:38 -07:00
Erwin Coumans bebe9a728b handle window closing in InProcessPhysicsClientSharedMemoryMainThread 2016-04-19 08:29:20 -07:00
Erwin Coumans (Google) 3a8ffebc28 fix possible division-by-zero if the profiler gui is called before stepSimulation is proceeding. 2016-04-18 21:43:42 -07:00
Erwin Coumans 476eb342ab fix scaling in URDF importer 2016-04-18 17:41:54 -07:00
Erwin Coumans 59e0bef988 remove compile errors and some debug code in ExampleBrowser. 2016-04-14 12:19:55 -07:00
Erwin Coumans 2cbfeb9590 run GUI on main thread for Mac OSX/__APPLE__, due to OS limitation 
add b3CreateInProcessPhysicsServerAndConnectMainThread to test.c
 2016-04-14 08:51:20 -07:00
Erwin Coumans 0ca56e756f add joint damping in PhysicsServerCommandProcessor 2016-04-13 17:21:43 -07:00
Erwin Coumans 4df7257250 more comments in SharedMemory C API 2016-04-13 17:09:48 -07:00
Erwin Coumans 34e6eb4a18 add a few lines of documentation and some error checks in SharedMemory API 2016-04-13 13:06:15 -07:00
Erwin Coumans f3c7f30684 fix some memory leaks in ImportURDF / PhysicsServerCommandProcessor 2016-04-11 16:42:02 -07:00
Erwin Coumans 59b32b7af1 re-enable command log and playback in physics server 
report applied motor torque in physics server
 2016-04-08 18:17:17 -07:00
Erwin Coumans d2793ec5c0 fix char -> int, to allow check with -1, some build systems fail 
to make char a signed char
fix unused variable
removed duplicate header files in Gwen/Controls/Layout
 2016-03-31 12:52:04 -07:00
Erwin Coumans 6c0ef7e597 fix resize issue on Linux, using i3 window manager on Linux 
fix uninitialize modified key (ALT etc) on Linux/X11
 2016-03-30 21:45:20 -07:00
Erwin Coumans 5c1eb2ec07 support 'world' tag for fixed objects in URDF 2016-03-30 14:43:59 -07:00
Erwin Coumans 84a136534a add preliminary Android build files for Bullet 
add SimpleOpenGL3 example and show how to override
keyboard, mouse, wheel, resize callbacks
 2016-03-27 10:21:05 -07:00
Erwin Coumans 7d72f23711 premake: disable linking system OpenGL and X11 by default, 
use dlopen to dynamically load GL/X11
 2016-03-24 21:15:49 -07:00
Erwin Coumans 643cf5ab1d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-03-17 16:12:48 -07:00
Erwin Coumans 7e4dfb7207 remove SimpleOpenGL3 demo, it breaks some builds 
reset callback to 0 after exiting a demo to avoid issues
 2016-03-17 16:11:53 -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
Erwin Coumans 005ef9d2f1 fixes in SharedMemory unit test, premake build issue on Linux 2016-03-15 18:29:32 -07:00
Erwin Coumans 87e5128ba8 fix some typos (need to merge into a single implementation later!) 2016-03-11 17:47:00 -08:00
Erwin Coumans 625ea96a3e accidently moved line in wrong place 2016-03-10 23:28:02 -08:00
Erwin Coumans ea6ecd3579 Use higher precision GJK/EPA collision tolerances in BT_USE_DOUBLE_PRECISION 
See https://raw.githubusercontent.com/billhoffman/bullet-pod/ac6aae3e3ee8137de484471094a65bfe166898b4/bullet_gjk_accuracy_patch.diff
 2016-03-10 23:12:22 -08:00
Erwin Coumans c69524be9e fix Lua example 2016-03-10 21:15:23 -08:00
erwincoumans efbb1edecc Allow InProcessExampleBrowser to use a malloc allocated memory block, instead of system shared memory. 
Make shared memory client/server a bit more robust, in case the server is terminated early.
 2016-03-10 14:36:46 -08:00
erwincoumans 40a9b8cea0 fix relative include path 2016-03-07 15:12:33 -08:00
erwincoumans 9be978337f quick draft implementation for SharedMemoryInProcessPhysicsC_API 2016-03-07 14:56:16 -08:00
Erwin Coumans b130be46f7 add InProcessExampleBrowser to make it easy to instantiate the ExampleBrowser in its own thread 
example usage:

int main(int argc, char* argv[])
{

btInProcessExampleBrowserInternalData* data = btCreateInProcessExampleBrowser(argc,argv);

while (!(btIsExampleBrowserTerminated(data)))
{
}

btShutDownExampleBrowser(data);

        return 0;
}
 2016-03-02 18:01:33 -08:00
Erwin Coumans d70132a901 only enable Wavefront obj support for URDF when ENABLE_URDF_OBJ is defined. 
add destructor for SampleJob1
 2016-03-01 09:15:55 -08:00
Erwin Coumans f90ba2eff9 fix issue, CrossSplitter.cpp cannot be disabled using #ifdef _WIN32 2016-03-01 09:10:16 -08:00