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113 Commits

Author SHA1 Message Date
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
Benjamin Ellenberger
34ae030c72 Fix CMake references. 2016-07-04 19:27:18 +02:00
Benjamin Ellenberger
74aba8b8fd Correct the build files and fix the name of the create method in header 
file.
 2016-07-04 19:17:50 +02:00
Benjamin Ellenberger
2bf17a7a81 Initial commit. 
------------
Simplifying the walker generation code and making it more understandable

SQUASH THIS LATER.
 2016-07-01 19:35:27 +02:00
Benjamin Ellenberger
e16082a7cd Refactor Newton's Cradle. Implement Newton's Cradle with Softbody ropes. 2016-06-27 15:14:36 +02:00
Benjamin Ellenberger
9872d2b20f Create InclinedPlane,Newton's Cradle and Multi-Pendulum examples for the Bullet Example Browser. 2016-06-04 12:09:37 +02:00
Benjamin Ellenberger
dfb2c51dc7 Merge remote-tracking branch 'upstream/master' 2016-06-04 11:36:43 +02:00
erwin coumans
9a5394c4bc fix cmake build 2016-06-01 11:07:39 -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
Benjamin Ellenberger
79be214d08 Merge resolve. 2016-05-15 14:19:01 +02:00
Erwin Coumans
578e4fc795 compile fixes 2016-05-13 22:10:18 -07:00
Erwin Coumans
f4a6b0cb9f move InProcessExampleBrowser.cpp into App instead of Lib 2016-05-13 21:10:16 -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
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
erwincoumans
5151519b94 https://github.com/bulletphysics/bullet3/pull/618 by Mobeen 
Summary of changes:
1) Changed include paths to be relative to the current sources (affected
files: LoadMeshFromObj.cpp, Wavefront2GLInstanceGraphicsShape.h/cpp)
2) Added new tutorials in the ExtendedTutorials folder
3) Modified the main_opengl_single_example.cpp file to enable picking
support in standalone demos
 2016-05-06 15:07:54 -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
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
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
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
6c9bfce975 Support btMultiBody soft contact using ERP and CFM. Also support custom relaxation parameter to allow successive over relaxation. 
Added demos for rigid and multi body soft (compliant) contact.
Will also add simplified Hertz compliant contact, by dynamically modifying the ERP/CFM to mimic a non-linear spring.
Note that btManifoldPoint is growing too big, we need to implement proper contact constraints derived from btTypedConstraint.
 2016-02-22 18:40:00 -08:00
Erwin Coumans
6bc3f94f52 add a Pendulum example that is also used as unit test. 
Gold data is created by numerically solving a second-order non-linear differential equation.
(see examples/MultiBody/pendulum_gold.h)
 2016-01-06 18:08:49 -08:00
Erwin Coumans
52f074bcb2 Merge remote-tracking branch 'bp/master' 
Conflicts:
	examples/ExampleBrowser/CMakeLists.txt
	examples/OpenGLWindow/CMakeLists.txt
 2015-12-07 16:42:45 -08:00
Erwin Coumans
13f314f401 allow CMake to build on Linux without X11/OpenGL system headers (use local one) 2015-12-07 16:38:43 -08:00
Andrew Meadows
c0c1691c25 fix whitespace formatting in cmake files 2015-12-07 14:08:04 -08:00
Erwin Coumans
03cc4f0554 add InverseDynamics example for example browser 
add CMake support for BulletInverseDynamics and BulletInverseDynamicsUtils
 2015-11-24 11:12:02 -08:00
Erwin Coumans
b4701613c8 consistent *API.* in examples/SharedMemory 2015-11-23 08:00:42 -08:00
erwincoumans
03bf78ef49 add physics server loopback (both client and server in the same process, using shared memory) 
add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
 2015-11-22 20:50:32 -08:00
Erwin Coumans
abcaa19bc8 make the compiler happy with Collision example 2015-10-19 18:21:45 -07:00
Erwin Coumans
3d3830962a add a few collision examples to test a C API with various back-ends 2015-10-17 13:44:00 -07:00
=
5e4badc099 make PhysicsClient an interface class, and move shared memory implementation 
of physics client into PhysicsClientSharedMemory class/file.
This will allow implementation of UDP and other transport protocols to a physics server.
 2015-09-24 22:50:34 -07:00
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003a42478b another step closer to useable shared memory C API 
(force/torque sensor needs new API)
in a nutshell, users of shared memory physics API should not
directly poke into shared memory, not fill 'SharedMemorCommand'
nor read SharedMemoryStatus directly. The C-API declares 'handles' for those,
to avoid it from happening.
 2015-09-16 23:09:10 -07:00
Erwin Coumans
74fda9ff85 simple multi threading test 2015-08-21 15:18:18 -07:00
erwincoumans
de4dcdbb18 more tutorial work 
add fixed_timestep command-line parameter, 0 means disabled (variable timestep)
 2015-08-07 14:18:57 -07:00
erwincoumans
89c2a729ce Improved simple TimeSeriesCanvas 
Fixes in RobotControlExample
Disable gravity by default in PhysicsServer
 2015-08-07 13:17:33 -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
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
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3fe9138e8c minor refactoring 2015-07-23 11:51:25 -07:00
erwincoumans
68b53feb9c add Inverted Pendulum example with PD control 2015-07-16 23:58:36 -07:00
erwin coumans
80f8f940b3 add Time Series example to cmake build file. 2015-07-15 13:02:20 -07:00
erwin coumans
259bcb1989 mix physics client/server into a single example for easier/faster development of shared memory experiment 
add premake option to choose targetdir for binaries/libraries
add simple hinge.urdf file
 2015-07-15 12:57:45 -07:00
erwin coumans
54a76f6e0c Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. 
(as usual, work-in-progress)
 2015-07-14 15:30:17 -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
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
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
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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