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Author SHA1 Message Date
erwincoumans 51970941b4 Merge pull request #577 from MichaelKorn/patch-1 
fix for issue in getAngleShortestPath()
 2016-03-04 15:03:04 -08:00
Michael Korn e80bafdf66 fix for issue in getAngleShortestPath() 
Testing squared norm for <0 does not make any sense. In Addition giving the range of the return values is a great help to understand the descriptions.
 2016-03-04 22:01:29 +01:00
erwincoumans 03e85ad5a8 Merge pull request #575 from erwincoumans/master 
add InProcessExampleBrowser to make it easy to instantiate the Exampl…
 2016-03-03 11:31:07 -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
erwincoumans 23f39afc62 Merge pull request #574 from erwincoumans/master 
only enable Wavefront obj support for URDF when ENABLE_URDF_OBJ is defined. enable CrossSplitter.cpp
 2016-03-01 10:12:19 -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
erwincoumans a8d9582023 Merge pull request #572 from erwincoumans/master 
fix some warnings
 2016-02-29 17:47:24 -08:00
Erwin Coumans 4a70df2dfb fix some warnings 2016-02-29 15:37:03 -08:00
erwincoumans 8764357fa8 Merge pull request #570 from erwincoumans/master 
re-quantize for before using the data in quantize method
 2016-02-24 18:22:31 -08:00
Erwin Coumans 25409f93c7 re-quantize for before using the data in quantize method 
this fixes issue 558
 2016-02-23 08:46:09 -08:00
erwincoumans 3d95133ed1 Merge pull request #568 from erwincoumans/master 
allow soft (compliant) contact for btRigidBody and btMultiBody using ERP/CFM.
 2016-02-23 08:38:09 -08:00
erwincoumans d196cec51f Update RigidBodySoftContact.cpp 
fix typo
 2016-02-23 08:02:28 -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 a3154f7a56 use b3ConnectSharedMemory in PhysicsClient example, instead of b3ConnectPhysicsLoopback 2016-01-27 13:36:33 -08:00
erwin coumans 645a88176d Enable softness for btRigidBody contacts. This is implemented by some value (CFM, constraint force mixing) to the main diagonal of A. 
CFM for contacts use world CFM value by default, and can override with custom CFM value using the
BT_CONTACT_FLAG_HAS_CONTACT_CFM stored in m_contactPointFlags.
Boolean m_lateralFrictionInitialized is replaced 'BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED' flag stored in int m_contactPointFlags in btManifoldPoint.
Enable successive over-relaxation parameter (SOR) for contacts. btMLCPSolver uses global CFM.
In one of the next commits, contact softness will be enabled btMultiBody contacts.
Also need to review use of CFM in btMLCPSolvers (only world CFM is used at the moment)
 2016-01-22 17:43:36 -08:00
erwincoumans 2fb92bc40c Merge pull request #557 from erwincoumans/master 
add a Pendulum example that is also used as unit test.
 2016-01-08 14:36:41 -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
erwincoumans e136c29a5a Merge pull request #551 from erwincoumans/master 
fixes in test/SharedMemory
 2015-12-15 14:00:57 -08:00
Erwin Coumans dabccd184d fixes in test/SharedMemory 2015-12-15 13:45:34 -08:00
erwincoumans c52abafb89 Merge pull request #549 from erwincoumans/master 
minor cmake fixes for Linux related to X11/OpenGL headers
 2015-12-08 14:29:28 -08:00
Erwin Coumans 46ddfa39d7 remove unused function in btRigidBody (btSetCrossMatrixMinus) 
thanks to Stefan for reporting.
 2015-12-08 07:54:19 -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
erwincoumans ab283251d3 Merge pull request #546 from erwincoumans/master 
typo fixes in InverseDynamicsExample
 2015-12-07 15:07:24 -08:00
erwincoumans 83c560262b Merge pull request #548 from AndrewMeadows/fix-cmake-whitespace 
fix whitespace formatting in cmake files
 2015-12-07 15:06:59 -08:00
erwincoumans 4894cb3a38 Merge pull request #547 from AndrewMeadows/fix-cmake-sans-bullet3 
fix cmake to succeed with -DBUILD_BULLET3=0
 2015-12-07 15:06:32 -08:00
Andrew Meadows c0c1691c25 fix whitespace formatting in cmake files 2015-12-07 14:08:04 -08:00
Andrew Meadows c3460a6d48 fix whitespace formatting 2015-12-07 13:49:29 -08:00
Andrew Meadows a860fff3ad fix cmake to succeed with -DBUILD_BULLET3=0 2015-12-07 13:43:17 -08:00
Erwin Coumans 433a7aa9b6 fix C++11 issue 2015-12-07 11:44:43 -08:00
Erwin Coumans acbf60ddfd typo fixes in InverseDynamicsExample 2015-12-05 09:02:02 -08:00
erwincoumans aaf4e1acfa Merge pull request #491 from nicokruithof/master 
Fixed missing include directories
 2015-12-04 21:49:47 -08:00
erwincoumans 6c67426b6d Merge pull request #544 from AndrewMeadows/premake-cleanup 
cleanup main premake script
 2015-12-04 08:45:56 -08:00
Andrew Meadows e66be7a7ef replaced spaced indentation with tabs 2015-12-03 22:00:52 -08:00
Andrew Meadows b8f72ee56b fix bad --no-extras option for InverseDynamcis 2015-12-03 20:52:28 -08:00
Andrew Meadows 1c30453ae4 adding forgotten --no-extras build option 2015-12-03 20:49:31 -08:00
Andrew Meadows d8b7d12707 combine checks for "ios" premake option 
The "ios" option now only makes sense when action is "xcode"
 2015-12-03 20:39:29 -08:00
Andrew Meadows f385bffffb cleanup main premake script 
added premake options:
  --no-demos
  --no-test
  --no-bullet3
 2015-12-03 18:58:10 -08:00
erwincoumans 01c4720d62 Merge pull request #543 from erwincoumans/master 
remove dependency on gflags, C++11 in test_invdyn_bullet
 2015-12-03 09:16:44 -08:00
Erwin Coumans b22e968cdd re-enable inverse dynamics/computed torque, instead of PD control in InverseDynamicsExample 2015-12-02 23:16:41 -08:00
Erwin Coumans 332017ff23 remove dependency on gflags, C++11 from test_invdyn_bullet.cpp 
add support for premake for test_invdyn_bullet
 2015-12-02 17:49:25 -08:00
erwincoumans 88d504d946 Merge pull request #542 from erwincoumans/master 
show inverse dynamics demo to use floating base
 2015-12-02 10:08:46 -08:00
Erwin Coumans 3dfebe0c45 show inverse dynamics demo to use floating base 2015-12-02 09:33:12 -08:00
erwincoumans 7d49b65939 Merge pull request #538 from erwincoumans/master 
add BT_DECLARE_ALIGNED_ALLOCATOR() for btTypedConstraint
 2015-12-01 18:58:31 -08:00
Erwin Coumans 5da9e37a05 add BT_DECLARE_ALIGNED_ALLOCATOR() for btTypedConstraint 2015-11-26 12:43:10 -08:00
erwincoumans 0f8d94b3ef Merge pull request #536 from erwincoumans/master 
joint trajectory curves use different colors for each DOF
 2015-11-26 11:06:45 -08:00
Erwin Coumans 4c88681479 joint trajectory curves use different colors for each DOF 
use fewer notch counts in slider GUI
 2015-11-26 10:45:51 -08:00
erwincoumans 346308120a Merge pull request #535 from erwincoumans/master 
add collision and inverse dynamics unit tests to cmake, .travis.yml a…
 2015-11-24 18:06:18 -08:00
erwincoumans 0e247264ff use BT_ID_MAX as std::max is not portable (older Visual Studio versions break) 2015-11-24 17:34:43 -08:00
erwincoumans ff74884f9f more appveyor fun 2015-11-24 17:15:35 -08:00
erwincoumans d8ee7e4dbc attempt to fix appveyor.yml (both build project for premake4 and build_script for cmake, does that work? 2015-11-24 17:13:58 -08:00
erwincoumans 1826f11fbc add pthread dependency for gtest-based tests for non-Windows platforms 2015-11-24 16:54:04 -08:00
erwincoumans 4c3d32bf48 tab->space 2015-11-24 16:15:23 -08:00
erwincoumans e387baf213 add collision and inverse dynamics unit tests to cmake, .travis.yml and appveyor.yml 
(more unit tests will follow, once this setup works)
 2015-11-24 16:13:21 -08:00
erwincoumans a14a695bc7 Merge pull request #534 from erwincoumans/master 
fix shared lib build
 2015-11-24 12:32:14 -08:00
Erwin Coumans 4205e976f6 another fix for dynamic libs of BulletInverseDynamicsUtils 2015-11-24 12:20:59 -08:00
Erwin Coumans 1f4148d322 fix shared lib build 2015-11-24 12:05:50 -08:00
erwincoumans 22e8dc9911 Merge pull request #533 from erwincoumans/master 
fix example issues
 2015-11-24 11:50:08 -08:00
Erwin Coumans 5f97a56f93 portability issues fixed 2015-11-24 11:40:33 -08:00
Erwin Coumans 460998c472 fix example issues 2015-11-24 11:34:17 -08:00
erwincoumans af142de5b8 Merge pull request #532 from erwincoumans/master 
add InverseDynamics example for example browser
 2015-11-24 11:27:34 -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
erwincoumans c755299861 Merge pull request #531 from erwincoumans/master 
add physics server loopback (same process, using shared memory) and direct (same process, directly executing commands not using shared memory)
 2015-11-23 08:09:46 -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 4db2665c52 Merge pull request #530 from erwincoumans/master 
fix InverseDynamics/test_invdyn_kinematics.cpp for single/double prec…
 2015-11-19 14:54:42 -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 4605282b11 Merge pull request #529 from erwincoumans/master 
[InverseDynamics] 4-spaces->tabs for src/BulletInverseDynamics, Add custom namespaces per configuration
 2015-11-19 13:02:37 -08:00
erwincoumans a9df481991 Merge pull request #527 from ComSubVie/master 
Updated include and variadic argument [xcode]
It was already applied, so I guess it will merge.
 2015-11-19 13:01:57 -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 f9e0e0a3e1 Merge pull request #528 from erwincoumans/master 
add real-time safe Inverse Dynamics library+test+utils
 2015-11-17 22:39:41 -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
Markus Schabel 7a93d24aef Updated include and variadic argument [xcode] 
InverseDynamics example:
* fixed the include path of the /Utils/b3ResourcePath.h file so that the
  example compiles in xcode.
* converted std:string to c-string to be used as variadic argument, so that
  the example compilse in xcode.
 2015-11-17 12:02:40 +01:00
erwincoumans 571a6ba9c4 Merge pull request #524 from erwincoumans/master 
add initial inverse dynamics example skeleton, with urdf and programm…
 2015-11-13 15:17:34 -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
erwincoumans 9ac27b77bf Merge pull request #523 from erwincoumans/master 
add deprecated methods to avoid breaking API
 2015-11-11 14:15:08 -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