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Author SHA1 Message Date
Erwin Coumans 460998c472 fix example issues 2015-11-24 11:34:17 -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 bd4c4eb3c5 rename API->Api 2015-11-22 21:32:20 -08:00
erwincoumans 5589fb03af Merge branch 'master' of https://github.com/erwincoumans/bullet3 2015-11-22 20:50:41 -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
erwincoumans 7651d89b98 fix InverseDynamics/test_invdyn_kinematics.cpp for single/double precision builds 
use dill_creator for tree structure (not coil_creator)
 2015-11-19 14:33:14 -08:00
erwincoumans 75d657ec85 change 4 spaces to tab for src/BulletInverseDynamics 
fix unit test in single precision compilation (use delta t of 0.01 if BT_ID_USE_DOUBLE_PRECISION is not defined)
 2015-11-19 12:08:04 -08:00
Erwin Coumans 069936218a [InverseDynamics] Add custom namespaces per configuration 
BulletInverseDynamics can be configured to compile using Eigen
instead of Bullet's LinearMath.

Adds a preprocessor defined specific namespace for each
configuration to produce linker errors if incompatible
libraries are linked (eg, builtin core library and
utilities for bullet types).
 2015-11-18 08:01:32 -08:00
erwincoumans de763a26e7 fix portability of BulletInverseDynamics (usual issues: std::pow, M_PI, std::vector->idArray<T>::type, snprintf, pass vec3 and mat33 by const reference, not by value) 2015-11-17 21:51:02 -08:00
Erwin Coumans aa4d119f98 add real-time safe Inverse Dynamics library+test+utils 
an example for the example browser will follow.
thanks to Thomas Buschmann
 2015-11-17 08:27:38 -08:00
Erwin Coumans 7d9365319c add InverseDynamics test/lib to premake 2015-11-17 08:26:27 -08:00
erwincoumans ad29d27700 add initial inverse dynamics example skeleton, with urdf and programmatically created btMultiBody. 
disabled in Bullet/examples/ExampleBrowser/ExampleEntries.cpp
 2015-11-13 10:37:43 -08:00
Erwin Coumans 7d6c2b77f7 Merge remote-tracking branch 'bp/master' 2015-11-11 12:44:36 -08:00
Erwin Coumans f6a8079353 sync repo 2015-11-11 12:44:26 -08:00
erwincoumans dc74129739 Merge pull request #522 from takuyanakaoka/fix-memory-leak-in-physics-client-shared-memory 
Fix memory leak in PhysicsClientSharedMemory. Let's just commit it, worry about strDup location when we need it again.
 2015-11-09 17:56:04 -08:00
erwincoumans c838d4996c Merge pull request #519 from d3x0r/MinorCodeFixes 
Minor code fixes
 2015-11-08 19:44:55 -08:00
erwincoumans 425ac25b26 Merge pull request #521 from erwincoumans/master 
clang gets confused/crashes when using the same namespace,
 2015-11-08 19:38:47 -08:00
Erwin Coumans 91204e8ed2 avoid naming conflicts Bullet3/Bullet3 2015-11-08 19:31:03 -08:00
Takuya Nakaoka b961cce360 Fix memory leak in PhysicsClientSharedMemory 2015-11-09 12:02:47 +09:00
Erwin Coumans 72b68409da clang gets confused/crashes when using the same namespace, 
need to look if it is a real error or clang issue
should fix Issue 520
https://github.com/bulletphysics/bullet3/issues/520
 2015-11-08 13:49:37 -08:00
erwincoumans 6df6df3b26 Merge pull request #517 from erwincoumans/master 
b3CreateBoxCommandSetColorRGBA: allow to specify color when creating …
 2015-11-06 17:41:40 -08:00
erwincoumans 3b9b803683 b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API 
Parse and use colors from URDF file (single rgba color per link, not per visual)
Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof'
btHashMap, add const Value* operator[]
remove a few more obsolete btMultiBody methods (on the non-multi-dof path)
fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill)
Add mention to Jakub Stepien for his work on btMultiBody
 2015-11-06 17:11:15 -08:00
erwincoumans 4a4d861721 Merge pull request #516 from erwincoumans/master 
Only support btMultiBody multi-dof version
 2015-11-05 21:32:03 -08:00
erwincoumans 8160354d02 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2015-11-05 21:18:10 -08:00
erwincoumans 2920d7e61f Only support btMultiBody multi-dof version (remove non-multi-dof path) 
Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
 2015-11-05 21:17:46 -08:00
erwincoumans d2c49a7a2c Merge pull request #515 from erwincoumans/master 
remove debug test
 2015-11-05 17:35:46 -08:00
Erwin Coumans 7ef06d532e remove debug test 2015-11-05 17:35:05 -08:00
erwincoumans c902cd0180 Update btTransform.h 
fix comment
 2015-11-05 14:08:22 -08:00
erwincoumans f5c6561365 Merge pull request #514 from erwincoumans/master 
Add b3GetStatusActualState() to C_API. Change pick-and-move C_API to use handlers
 2015-11-04 17:34:45 -08:00
Erwin Coumans 2317307a22 Add b3GetStatusActualState() to C_API. 
Change pick-and-move C_API to use handlers
 2015-11-04 16:08:28 -08:00
erwincoumans e39afd06b9 Merge pull request #513 from erwincoumans/master 
workaround for wrong gjk/epa contact normal, add 'replay' command log feature: no mouse interaction during replay etc.
 2015-11-01 13:00:19 -08:00
erwincoumans d6464ce40d add 'replay' command log feature: no mouse interaction during replay, and use a fixed number of sim steps in stepSimulation. 
workaround for reversed separating normal in gjk/epa when using very small shapes, detect case and revert normal.
use smaller world size (10 units versus 100) for higher resolution shadow map
use a hard-coded rolling friction of 0.2 for objects in physics server (will make this configurable)
fix loading of command log files, when platform features are different (64bit/32bit)
 2015-11-01 12:48:15 -08:00
erwincoumans 8604d05bc9 Merge pull request #511 from erwincoumans/master 
re-enable wireframe in PhysicsClient
 2015-10-30 13:24:56 -07:00
Erwin Coumans 6e042b1901 re-enable wireframe in PhysicsClient 
inintialize variables in constructor of PhysicsClient
 2015-10-30 13:24:02 -07:00
erwincoumans 5cea0d8660 Merge pull request #509 from erwincoumans/master 
fix case sensitive issue
 2015-10-30 11:00:27 -07:00
erwin coumans c68c215ead add rudimentary command logging for shared memory physics server 2015-10-30 10:30:48 -07:00
erwin coumans 819c4f1951 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2015-10-29 11:26:01 -07:00
erwin coumans f7bbbd88e6 preparation for CommandLogging for PhysicsServer. 2015-10-29 11:25:50 -07:00
erwin coumans 9442791cf1 Fix PhysicsServer connection issue, in cases where shared memory was not properly shut down. 2015-10-29 11:18:26 -07:00
erwincoumans 650189d50b Allow both remote debug drawer and local debug drawer for PhysicsServer (shared memory etc) 2015-10-29 08:28:49 -07:00
Erwin Coumans 8a956318e5 fix case sensitive issue 2015-10-28 16:02:55 -07:00
Erwin Coumans 6a6c0297fe Merge branch 'master' of https://github.com/erwincoumans/bullet3 2015-10-28 13:44:30 -07:00
erwincoumans d3796ff814 Merge pull request #508 from erwincoumans/master 
upload work-in-progress Collision example using C-API.
 2015-10-28 12:23:00 -07:00
erwin coumans dc81e31e74 upload work-in-progress Collision example using C-API. 2015-10-28 11:48:36 -07:00
erwincoumans 187b216750 Merge pull request #507 from erwincoumans/master 
Physics Shared Memory Client/Server: 	Allow to request the state of a rigid body
 2015-10-27 16:54:57 -07:00
erwin coumans 2d5d89d999 Allow to request the state of a rigid body (position, orientation, lin/ang velocity) through shared memory API 
PhysicsClientC_API: b3RequestActualStateCommandInit requires a body unique Id as second argument
 2015-10-27 15:46:13 -07:00
erwin coumans 9cc2b1ec12 Physics SharedMemory: 
Add flags BOX_SHAPE_HAS_MASS and  BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE to CMD_CREATE_RIGID_BODY
(which maps to CMD_CREATE_BOX_COLLISION_SHAPE for backward compatibility for now)
Need to add way to receive world transform
 2015-10-27 14:55:46 -07:00
erwincoumans 5ded2d3ee4 Merge pull request #398 from MakoEnergy/master 
Constraint Accessibility.
 2015-10-27 12:01:11 -07:00
erwincoumans 87cedbd40f Merge pull request #501 from antarespilot/dbvt_memmove_fix2 
fix for broken memmove used in btDbvt.h, issue 347.
 2015-10-27 11:04:38 -07:00
erwincoumans bd55f6b058 Merge pull request #503 from ajshort/patch-1 
Remove usage of deprecated `register` keyword
 2015-10-27 11:03:24 -07:00
erwincoumans 3f1940987c Merge pull request #506 from erwincoumans/master 
Create a PhysicsLoopBack+test,  fix in example Collision: catch case where no collision world is created
 2015-10-26 22:01:31 -07:00
erwincoumans 57f50f1778 Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory. 
Add a test for PhysicsLoopBack.
 2015-10-26 17:56:21 -07:00
erwincoumans e779bb247b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2015-10-26 16:16:08 -07:00
erwincoumans 67cb01c0b1 Merge pull request #505 from erwincoumans/master 
Update to ZLib license for GWEN files with permission from Garry Newman
 2015-10-26 14:26:10 -07:00
Erwin Coumans 163b797d8b Update to ZLib license for GWEN files. 
Note that our copy of GWEN is modified and GWEN is not under active development anymore.
We plan to integrate and modify GWEN further into the Bullet Example Browser or rewrite the GUI and drop GWEN

fix cube.obj and cube.mtl to enable textures
 2015-10-25 11:30:34 -07:00
erwincoumans 9731d82ee8 Merge pull request #504 from erwincoumans/master 
catch setting of invalid joint angles in PhysicsClientC_Api,	Fix issue related to CMD_RESET_SIMULATION, 	add SIM_PARAM_UPDATE_DELTA_TIME flag
 2015-10-25 10:53:54 -07:00
erwincoumans d6916107dc Merge branch 'master' of https://github.com/erwincoumans/bullet3 2015-10-24 14:01:01 -07:00
erwincoumans 52edac4ef2 example Collision: catch case where no collision world is created 2015-10-24 14:00:53 -07:00
Erwin Coumans ec1947bbbd add SIM_PARAM_UPDATE_DELTA_TIME flag to fix setting the time step 
in shared memory API
 2015-10-24 13:50:11 -07:00
Erwin Coumans 818037c011 Fix issue related to CMD_RESET_SIMULATION 2015-10-24 13:49:25 -07:00
Erwin Coumans f28150c368 catch setting of invalid joint angles in PhysicsClientC_Api 
use the proper m_bodyUniqueIndex (todo: fix this field, move to shared command data)
 2015-10-24 13:48:53 -07:00
Andrew Short 98bce6e484 Remove usage of deprecated register keyword 
C++11 deprecated the register keyword, so don't use it if we're using C++11 or newer.
 2015-10-23 15:59:38 +11:00
Ola Røer Thorsen 75207c4839 fix for broken memmove used in btDbvt.h, issue 347. 2015-10-22 21:24:40 +02:00
erwincoumans 7f35aa9f43 Merge pull request #500 from erwincoumans/master 
fix for Mac OSX El Captain 10.11, OpenGL Window was blue, until first…
 2015-10-22 11:11:08 -07:00
Erwin Coumans 25fb92c4c9 fix for Mac OSX El Captain 10.11, OpenGL Window was blue, until first resize. 
fixes Issue 498
 2015-10-21 21:30:44 -07:00
erwincoumans c737a35693 Merge pull request #497 from erwincoumans/master 
Add plane shape and profile timing support in examples/Collide
 2015-10-21 10:42:04 -07:00
erwin coumans 3d9218e07d Add plane shape and profile timing support in examples/Collide 
Use View/Profiler in example browser, in optimized build/Release mode
and look for plCollideWorld
 2015-10-20 18:30:43 -07:00
erwincoumans 6caadab87f Merge pull request #496 from takuyanakaoka/fix-slow-simulation-in-shared-memory-example 
Fix slow simulation in PhysicsServerExample
 2015-10-20 18:14:48 -07:00
Takuya NAKAOKA 3a11fff3ad Fix slow simulation in PhysicsServerExample 
Removed maxSteps to regain simulation speed
 2015-10-20 14:51:40 +09:00
erwincoumans 61a5328985 Merge pull request #495 from erwincoumans/master 
minor fix + merge
 2015-10-19 18:52:32 -07:00
Erwin Coumans abcaa19bc8 make the compiler happy with Collision example 2015-10-19 18:21:45 -07:00
erwin coumans 5a21424662 update to examples/Collision and RealTimeBullet3Collision 2015-10-18 23:43:37 -07:00
erwin coumans 7ac497d6f2 WIP example for real-time collision detection features of Bullet 2015-10-18 14:01:25 -07:00
Erwin Coumans abb7e22027 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2015-10-17 22:03:36 -07:00
erwincoumans 324369fce6 Merge pull request #494 from erwincoumans/master 
add a few collision examples to test a C API with various back-ends
 2015-10-17 21:45:03 -07:00
Erwin Coumans 21b7a47129 although still not implemented, IMU enum had wrong value, thanks JF 2015-10-17 20:12:50 -07:00
Erwin Coumans e5175cde9a although still not implemented, IMU enum had wrong value, thanks JF 2015-10-17 18:52:48 -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
erwincoumans 467ffa0481 Merge pull request #493 from erwincoumans/master 
fix include guard, thanks Aaron!
 2015-10-16 11:00:34 -07:00
erwincoumans 67557d7039 Merge pull request #490 from erwincoumans/master 
use const in PhysicsClientC_Api, thanks to Roland
 2015-10-15 08:35:10 -07:00
erwincoumans cf79928d84 Merge pull request #489 from erwincoumans/master 
Implement CMD_INIT_POSE to set base position, base orientation and jo…
 2015-10-13 22:51:06 -07:00
erwin coumans a0e507280c Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle). 
See PhysicsClientExample for example use of CMD_INIT_POSE.
Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
 2015-10-13 22:23:28 -07:00
erwincoumans 5b558a1f94 Merge pull request #488 from erwincoumans/master 
initial support for multiple robots in shared memory API
 2015-10-13 16:08:30 -07:00
erwin coumans 4a29986662 initial support for multiple robots in shared memory API 2015-10-13 11:32:25 -07:00
erwincoumans d1d279d086 Merge pull request #464 from benelot/master 
Fix the Bullet Raycast sample. Closes #450.
 2015-10-09 10:16:07 -07:00
erwincoumans 14eb70a06f Merge pull request #466 from rioharu/patch-1 
Update btInternalEdgeUtility.cpp, closes issue #389
 2015-10-09 10:09:01 -07:00
erwincoumans a05de9204e Merge pull request #484 from juj/add_missing_stdio_h 
add_missing_stdio_h
 2015-10-09 10:06:21 -07:00
Jukka Jylänki 62d977f5cd Add missing <stdio.h> include in src/LinearMath/btMatrixX.h for printf() access. (missing in Emscripten/musl libc builds otherwise) 2015-10-08 18:19:10 +03:00
erwincoumans 9938db95d1 Merge pull request #480 from erwincoumans/master 
allow links without collision shapes in btMultiBody URDF importer
 2015-09-25 17:04:00 -07:00
erwincoumans 99c41f3c4d Merge pull request #479 from erwincoumans/master 
improvements to the shared memory physics API:
 2015-09-24 23:05:04 -07:00
erwincoumans e5e71bebc9 Merge pull request #476 from erwincoumans/master 
fix warning
 2015-09-17 13:50:42 -07:00
erwincoumans cb13054f2e Merge pull request #465 from cameronwhite/conetwist-motor 
Use the max motor impulse for cone twist constraints when the motor is enabled.
 2015-09-10 18:08:19 -07:00
erwincoumans 9b9ec21a5f Merge pull request #475 from erwincoumans/master 
fix some warnings, re-enable ground in URDF import example, fix COLLADA up axis issue in URDF collision element
 2015-09-10 18:06:48 -07:00
erwincoumans 3025ad4536 Merge pull request #474 from erwincoumans/master 
fixes in shared memory client/server: check for valid pointers
 2015-09-09 17:30:28 -07:00
erwincoumans e4b5f4730d Merge pull request #473 from takuyanakaoka/detach-shared-mem 
Detach posix shared memory correctly
 2015-09-09 15:13:27 -07:00
Takuya NAKAOKA 4cbd86a058 Detach posix shared memory correctly 
* shmget() fails after shmctl() is called with IPC_RMID. This patch
removes shmget() in releaseSharedMemory so that a client can detach
a shared memory correctly after a server removed it.
* A server should also detach a shared memory.
 2015-09-09 12:35:26 +09:00
erwincoumans c99f4057fe Merge pull request #472 from erwincoumans/master 
run the PhysicsServerExample 'stepSimulation' smoother, fix a few warnings
 2015-09-08 14:32:08 -07:00
erwincoumans 9e7f8e614b Merge pull request #470 from erwincoumans/master 
add picking to shared memory physics server
 2015-09-05 13:12:05 -07:00
erwin coumans 2909b5fae3 add picking to shared memory physics server 2015-09-04 11:28:08 -07:00