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Commit Graph
2765 Commits
Author SHA1 Message Date
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
yunfeibai c198029cb9 Expose body Jacobian in shared memory API. 2016-09-07 16:00:38 -07:00
Jeffrey Bingham f7ed0d7703 [format] Convert pybullet.c to consistent style. 2016-09-06 23:43:57 -07:00
Jeffrey Bingham edef18e161 [python] Convert physics calls to double precision. 
In order to feed Bullet the correct values when
compiled with double precision the pybullet interface
needs to pass double precision values.
 2016-09-06 23:31:41 -07:00
Benelot d9a2113b28 Implement simple body part drop strategy to resolve body 
interpenetrations
 2016-09-06 22:30:46 +02:00
erwincoumans 4944aca28b Update our_gl.cpp 2016-09-06 13:26:08 -07:00
erwincoumans 630fcda38b fix compile issue pybullet on MSVC 2010 2016-09-03 09:53:21 -07:00
erwin coumans de5d1b5cfc make husky wheels soft/compliant 
reduce shadow size to make VR on older GPU (Mac Pro 2013) perform more smooth
less sleep in physics thread.
 2016-09-03 08:39:40 -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
Ian Wilkes 2336be02e4 Added Phong refelction to the TinyRenderer Shader. 2016-09-02 11:56:03 -07:00
Ian Wilkes ba583feb7f Updated TinyRenderer intensity paramater. 
Switched from ranging from 0 to 1 - ambient to -1 * (1-ambient) to (1-ambient).
 2016-09-02 11:56:03 -07:00
erwincoumans 21c60c66ec Merge pull request #767 from ludi1001/urdf-joint-transforms 
Fix joint orientations when loading URDF files.
 2016-09-02 08:21:02 -07:00
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
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
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