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433d11d8cf8fcdfae9bb702701a4b66da88bd1e9
Commit Graph

72 Commits

Author SHA1 Message Date
Erwin Coumans
433d11d8cf Add a btIDEbugDraw::clearLines, helps multi-threaded rendering of lines (while updating those lines in a dynamics world in a different thread) 
Expose COV_ENABLE_VR_RENDER_CONTROLLERS, to enable/disable rendering of controllers (and some frames) in VR
Expose COV_ENABLE_RENDERING to enable/disable rendering.
Fix some multi-threading issues (potential crashes), related to debug drawing/rendering in one thread, while changing the dynamics world/removing/resetSimulation in a different thread.
 2017-05-16 12:19:03 -07:00
yunfeibai
98654a0cb4 Change dynamic to dynamics in dynamics info. 2017-05-09 10:31:28 -07:00
yunfeibai
5fe4c6bb5b Add API to get dynamic info. 2017-05-07 22:21:38 -07:00
yunfeibai
e363e12ea4 Add default specular when there is not specular map. Add example for adjusting specular coefficient. 2017-05-07 21:09:08 -07:00
Erwin Coumans
82b576a390 fixed a bug that prevented kitchens/1.sdf to render properly (local scaling was double applied) 
disable some left-over clipping that was moved to another part of the code
 2017-04-06 21:13:23 -07:00
Erwin Coumans
deb95c758b TinyRenderer: implement triangle clipping against near-plane 
TinyRenderer: implement texture UV-repeat by default (instead of clamp(0,1))
 2017-04-06 14:31:34 -07:00
Erwin Coumans
c0c4c8ba3f fix many warnings 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
 2017-01-15 22:26:11 -08:00
yunfeibai
1fbd78ece5 Add shared memory API for setting shadow and light source distance. 2016-11-29 13:19:35 -08:00
yunfeibai
0bc4e0a4c3 Render multiple objects with shadow. 2016-11-27 16:53:15 -08:00
yunfeibai
529274a3f4 Render shadow of torus with shadow buffer and index from triangle order. 2016-11-27 15:32:55 -08:00
yunfeibai
29809a4471 Render depth buffer. 2016-11-23 13:00:26 -08:00
yunfeibai
24b3e137a6 Render shadow with depth from light. 2016-11-21 10:21:14 -08:00
yunfeibai
1b312dab3c Remove the temporary test code. 2016-10-21 12:42:42 -07:00
yunfeibai
3d79961725 Add API to change texture with object id and link index. 2016-10-21 11:55:27 -07:00
yunfeibai
4911b14271 Add loading texture API. 2016-10-20 23:40:30 -07:00
yunfeibai
1c04da23db Change texture with loaded texture file. 2016-10-20 21:40:44 -07:00
yunfeibai
35688e4ecf Change texture for one body. 2016-10-20 14:20:09 -07:00
yunfeibai
6ef96a4027 Add programmatic render API and a basic test. 2016-10-20 10:56:44 -07:00
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
29f3afe2a4 don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps 
optimize gpu upload (use glBufferSubData instead of glMapBuffer
Avoid checking char array against zero.
 2016-10-14 15:06:09 -07:00
erwincoumans
33d9603e16 Add rudimentary 'saveWorld' command in shared memory API and pybullet, see examples/pybullet/saveWorld.py 
Use trilinear filtering instead of bilinear
 2016-10-12 23:03:36 -07:00
erwin coumans
0936ae6600 expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world. 2016-09-27 12:13:45 -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
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
c75bebcafe revert accidently renaming of m_depthvalues4 2016-08-12 13:55:37 -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
a9b1544a9f Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. 
Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and
b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage.
Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option
Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc])
Thanks to Jeff Bingham for the suggestion.
 2016-08-09 18:40:12 -07:00
Erwin Coumans
b880ddf76b add pybullet render API with yaw/pitch/roll option 
add testrender.py file
allow option to enable OpenGL hardware renderer in multithreaded sim

b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
 2016-08-08 14:23:44 -07:00
erwin coumans
75e86051c2 Add inverse kinematics example with implementations by Sam Buss. 
Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
 2016-07-24 22:22:42 -07:00
Erwin Coumans
10cc6f14cb add option to use hardware OpenGL renderer for synthetic camera 2016-07-12 18:16:13 -07:00
erwin coumans
d0f20eafd1 Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. 
Add option to have Z as up-axis for VR examples.
Add OpenVR LICENSE + README file
Don't crash VR app when no HMD is detected, just exit.
For now, don't request debug lines in client, it slows down physics server in VR mode too much.
 2016-07-02 18:53:19 -07:00
Erwin Coumans
2cd0eba257 re-introduce old method in pybullet for temporary back-wards compatibility 
b3JointControlCommandInit requires 3 args, but it was only 2,
use b3JointControlCommandInit2 for now.
 2016-06-23 08:40:36 -07:00
Erwin Coumans
53a0772257 fix some issues related to controlling a robot/multibody beyond body index 0 
(most testing happened with a single robot/multibody so far)
preliminary pybullet.setJointControl implementation
 2016-06-16 18:46:34 -07:00
Erwin Coumans
456c844a6b work-in-progress send object/joint information after loading SDF file 2016-06-14 18:41:19 -07:00
erwincoumans
6523df336e Fix pybullet Windows build errors: C99 requires variables to be defined at the start of the function. 
Improve CMake Windows support to build PyBullet (BUILD_PYBULLET)
Implement b3LoadSdfCommandInit in shared memory API
Implement pybullet SDF loading binding, in loadSDF API
TODO for SDF support is provide way to query object/link/joint information.
 2016-06-13 10:11:28 -07:00
Jasmine Hsu
ecc192df94 render image with ability to set pixel resolution and initial camera position 2016-06-10 15:07:52 -07:00
Erwin Coumans
98d2f91f3c fix flipped tinyrenderer image 2016-06-09 12:12:46 -07:00
Erwin Coumans
d2e50d045b fix issues related to camera width/height 
add width,height as arguments to pybullet.renderImage(x,y,[viewMat4x4],[projMat4x4])
 2016-06-07 16:11:58 -07:00
Erwin Coumans
1c7f87aff1 implement first draft of pybullet.renderImage for synthetic camera 
remove a few debug printf from tinyrenderer
 2016-06-06 18:54:05 -07:00
erwin coumans
4b2c0f6d89 make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF 
add an example using 'direct'
fix the send-desired-state commands, to add flags for arguments set, using default values.
Start exposing SDF loading in shared memory api, not fully implemented yet.
 2016-06-03 19:03:56 -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
ef85a71d4b more work on synthetic camera 2016-06-01 11:04:10 -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
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
a395ddcb06 add option to embed a physics server in the physics client example, for easier debugging 2016-05-18 09:34:42 -07:00
yunfeibai
cbeddfc897 Modify shared memory client example to test joint motor torque measurement. 2016-04-19 16:52:47 -07:00
yunfeibai
c3afbf7689 set desired position target 2016-04-19 14:19:18 -07:00
Erwin Coumans
a3154f7a56 use b3ConnectSharedMemory in PhysicsClient example, instead of b3ConnectPhysicsLoopback 2016-01-27 13:36:33 -08:00
Erwin Coumans
b4701613c8 consistent *API.* in examples/SharedMemory 2015-11-23 08:00:42 -08:00