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Author SHA1 Message Date
erwincoumans 6584bd8a97 Merge pull request #837 from YunfeiBai/master 
Add btSoftMultiBodyDynamicsWorld and set up the soft body grasp demo.
 2016-10-19 07:07:37 -07:00
erwincoumans 292dd5ced4 Update README.md 2016-10-16 10:28:22 -07:00
erwincoumans 9cb9608da3 Update README.md 2016-10-16 10:27:32 -07:00
erwincoumans e744890f10 Merge pull request #835 from erwincoumans/master 
don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps, compile issue, VR tiny UI work-in-progress
 2016-10-15 10:49:53 -07:00
Erwin Coumans da4098166e fix case in #include 2016-10-14 17:25:52 -07:00
erwincoumans 4ebc327151 Merge pull request #834 from erwincoumans/master 
Add rudimentary 'saveWorld' command in shared memory API and pybullet…
 2016-10-13 00:00:22 -07:00
erwincoumans 1a62f21143 Merge remote-tracking branch 'bp/master' 2016-10-12 23:07:41 -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
erwincoumans 729ae8d3d6 Merge pull request #833 from matpalm/process_server_status_warning 
handle CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED/FAILED in PhysicsCl…
 2016-10-12 12:03:24 -07:00
erwincoumans 9c076736dd Merge pull request #832 from YunfeiBai/master 
Fix a bug about the link transformation in IK.
 2016-10-12 11:00:00 -07:00
erwincoumans 7cb8756c28 Merge pull request #827 from erwincoumans/master 
add check for #dof of KUKA in VR demo
 2016-10-09 21:49:37 -07:00
erwincoumans 6c718d5ffb Merge pull request #826 from erwincoumans/master 
add kuka iiwa with different limits
 2016-10-09 21:17:04 -07:00
erwincoumans c6b61cc52a Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-10-09 21:16:20 -07:00
erwincoumans d853500997 add kuka iiwa with different limits (experiment with inverse kinematics null space) 2016-10-09 21:16:01 -07:00
erwincoumans 724d2c5d61 Merge pull request #825 from erwincoumans/master 
App_SharedMemoryPhysics_VR: Add a command-line flag (--emptyworld) to start with an empty VR world and use pybullet to populate it over shared memory.
 2016-10-09 17:19:29 -07:00
erwincoumans 489f5c0637 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-10-08 18:40:29 -07:00
erwincoumans bbb2fac940 App_SharedMemoryPhysics_VR: Add a command-line flag (--emptyworld) to disable the Samurai/KUKA robot creation in the VR demo, and use pybullet to populate the VR world. Note that either way, you can use pybullet to interact and control the world. 2016-10-08 18:40:09 -07:00
erwincoumans 4e69166ef1 Merge pull request #823 from erwincoumans/master 
disable VSYNC for VR
 2016-10-08 08:26:48 -07:00
erwincoumans c5d4f7b3b3 disable VSYNC for VR 
clamp KUKA motor motion to be less abrupt
 2016-10-08 07:51:45 -07:00
erwincoumans aaa03c9fcc Merge pull request #822 from erwincoumans/master 
SharedMemory API: don't enable rolling friction by default for progra…
 2016-10-07 18:07:20 -07:00
erwincoumans 080cb520b1 Merge pull request #821 from erwincoumans/master 
remove some useless global constants, move them right into the constructor
 2016-10-07 17:30:13 -07:00
erwincoumans 0aa2bbfe07 Merge pull request #817 from erwincoumans/master 
avoid wavefront obj texture index out-of-bounds (most obj out-of-boun…
 2016-10-05 17:28:23 -07:00
erwincoumans 90ae12659c Update README.md 2016-10-05 17:27:34 -07:00
erwincoumans 4e9d25a2ef Update README.md 2016-10-05 17:25:49 -07:00
erwincoumans efe86c9b41 Update README.md 2016-10-05 17:22:35 -07:00
erwincoumans 831b42c19d Merge pull request #816 from YunfeiBai/master 
Add null space task as an option for IK in VR. Fix angular velocity target in IK to prevent flip motion.
 2016-10-05 16:42:46 -07:00
erwincoumans a287227384 Merge pull request #815 from YunfeiBai/master 
Rearrange the scene for VR demo.
 2016-09-30 14:33:13 -07:00
erwincoumans d86cce521c Merge pull request #814 from erwincoumans/master 
textured table top (no legs) + few jenga/domino blocks
 2016-09-30 08:42:20 -07:00
erwincoumans bcfb0aa473 enable textured table (no legs), place a few jenga/domino on table 2016-09-30 08:40:24 -07:00
erwincoumans 591a55d913 Merge remote-tracking branch 'bp/master' 2016-09-30 08:09:15 -07:00
erwincoumans c1657c6d5a Merge pull request #813 from YunfeiBai/master 
Add null space task for IK.
 2016-09-30 07:53:47 -07:00
erwincoumans 032ffe427e jenga brick was way too heavy 2016-09-29 22:03:29 -07:00
erwincoumans d8c54e3e31 no spinning friction for jenga block 2016-09-29 21:51:28 -07:00
erwincoumans a1fa2b8056 add a basic table top (no legs yet) 2016-09-29 21:45:39 -07:00
erwincoumans 3e0058e451 Merge pull request #812 from YunfeiBai/master 
Add a new one motor gripper.
 2016-09-29 20:45:50 -07:00
erwincoumans f0d03c5751 Merge pull request #810 from iwilkes1/master 
Fixed mismatched new and delete in BussIK VectorRn and MatrixRmn
 2016-09-28 17:20:40 -07:00
erwincoumans 0cf5bef109 Merge pull request #811 from YunfeiBai/master 
Setup for VR demo.
 2016-09-28 17:20:04 -07:00
erwincoumans 3bb5e02b18 Merge pull request #809 from erwincoumans/master 
ping-pong back/forward in PGS solving iterations to reduce bias in co…
 2016-09-28 13:53:35 -07:00
erwincoumans cf046093ab Merge pull request #808 from YunfeiBai/master 
KUKA and gripper control in VR.
 2016-09-27 19:24:13 -07:00
erwincoumans 3f805103dd Merge pull request #807 from erwincoumans/master 
expose getNumBodies, getBodyUniqueId, getBodyInfo in sharedmem/pybullet
 2016-09-27 14:04:51 -07:00
erwincoumans 3d813b2f1b Merge pull request #806 from erwincoumans/master 
fix pybullet compilation, add clang sqrtf '-inf' workaround
 2016-09-26 14:03:12 -07:00
Erwin Coumans 6563c9c821 add btVector3::safeNorm to avoid/workaround certain clang/g++ issue or returning -INF 
when taking sqrtf(0.0000000000000000000000000000000000000108333558)
 2016-09-25 23:13:23 -07:00
Erwin Coumans c05784ea88 Merge remote-tracking branch 'bp/master' 2016-09-25 22:55:52 -07:00
erwincoumans 994a797af7 Update AUTHORS.txt 
add Yunfei Bai (contributions in various areas, including btMultiBody constraints, inverse kinematics and other areas)
 2016-09-25 18:30:54 -07:00
Erwin Coumans 4c85a65af3 Merge remote-tracking branch 'bp/master' 2016-09-25 15:12:52 -07:00
erwincoumans c979f147e6 Update btQuaternion.h 
add missing ; after btAssert
 2016-09-25 15:12:19 -07:00
erwincoumans f5e65197f4 fix pybullet.c compilation for Windows 
add lego.urdf, duck.urdf (optimized using VHACD convex decomposition)
optimize Kiva shelf collision model (by hand, using boxes/Blender)
physics timescale toggle between  1 -> 0,25 -> 0
 2016-09-24 11:25:05 -07:00
erwincoumans 0dfe20c036 Merge pull request #759 from MichaelMcDonnell/warnings 
Two bugs
 2016-09-23 22:15:16 -07:00
erwincoumans 278a89f7c3 Merge pull request #804 from erwincoumans/master 
fix uninitialized variable in btMultiBody
 2016-09-23 22:13:36 -07:00
erwincoumans d3bf740c50 Merge pull request #446 from T4Larson/slerpfix 
fix: btQuaternion.slerp() may result in NaN-quaternions
 2016-09-23 22:03:01 -07:00
erwincoumans 80ea081189 Merge pull request #803 from matpalm/pybullet_getLinkState 
expose b3GetLinkState in pybullet
 2016-09-23 22:00:42 -07:00
erwincoumans fe6c8775da fix uninitialized variable in btMultiBody 
use btAssert to detect 0 determinant in btMatrix3x3 inverse
Remove obsolete comment in PosixSharedMemory, the Windows shared memory implementation was done over a year ago
 2016-09-23 21:59:38 -07:00
erwincoumans 6969272dc3 Merge pull request #802 from ludi1001/urdf-continuous-joints 
Do not add limits for continuous joints.
 2016-09-23 15:14:57 -07:00
erwincoumans 666c8f47b7 Merge pull request #800 from bulletphysics/iktest 
Iktest
 2016-09-23 07:40:09 -07:00
erwincoumans 3df9d6c4ee Merge pull request #798 from YunfeiBai/master 
Create a demo for one motor gripper grasp.
 2016-09-23 07:39:24 -07:00
erwincoumans b6bb937dc0 URDF: don't parse joint limit for continuous joints 
tweak KUKA iiwa inverse kinematics test in physics server
 2016-09-22 23:21:24 -07:00
erwincoumans 46b32f17bb Add small sphere, make teddy small too 
Add physics time scale in VR mode
Fix compound collision margin in physics server
Enable visuals for rigid body (non-multi-body) URDF/SDF loading in physics server.
 2016-09-22 08:50:28 -07:00
erwincoumans bb214e823b Merge pull request #786 from jamiesnape/policy-cmp0042-macosx-rpath 
Enable rpath on OS X when the CMake version supports it
 2016-09-21 08:15:42 -07:00
erwincoumans ffa1e39d28 Merge pull request #797 from erwincoumans/master 
add simple pybullet robotcontrol.py example
 2016-09-21 08:14:30 -07:00
erwincoumans 36b144ffa6 Merge pull request #769 from iwilkes1/master 
Add Phong reflection to TinyRenderer
 2016-09-21 08:14:18 -07:00
erwincoumans 5c1d2f9a0e Merge pull request #789 from mwoehlke-kitware/remove-useless-const 
Remove useless const qualifiers from returns
 2016-09-21 08:12:11 -07:00
erwincoumans e4e12828ca Merge pull request #790 from mwoehlke-kitware/fix-dl-link-errors 
Fix clew.c link errors
 2016-09-21 08:11:00 -07:00
erwincoumans 5a6db80d01 Merge pull request #788 from mwoehlke-kitware/fix-missing-virtual-dtor 
Add "missing" virtual dtor
 2016-09-21 08:09:14 -07:00
erwincoumans 5c74715927 Update build_visual_studio.bat 
remove some clutter form the .bat file
 2016-09-20 21:18:55 -07:00
erwincoumans b8541cf721 Merge pull request #796 from erwincoumans/master 
decrease some gjk/epa tolerance to improve collision detection using …
 2016-09-20 17:51:49 -07:00
erwincoumans cca2236f1a Merge pull request #795 from YunfeiBai/master 
Inverse kinematics with orientation constraint.
 2016-09-20 17:49:35 -07:00
erwincoumans 8d4c99801e Merge pull request #783 from bingjeff/urdf_loader_changes 
[URDF] Edit loader to handle full inertia tensor.
 2016-09-20 04:39:38 -07:00
erwincoumans 2f5be6a319 Merge pull request #794 from erwincoumans/master 
URDF2Bullet: support revolute joint limits. Remove that odd triangle in the origin of samurai castle (VR)
 2016-09-20 04:35:43 -07:00
erwincoumans 48d42c7c6e Merge pull request #792 from erwincoumans/master 
delete -> free due to the use of stb_image.h (which uses malloc)
 2016-09-17 00:38:32 +01:00
erwincoumans dd791e2222 Merge pull request #791 from erwincoumans/master 
default contact erp (m_erp2) was too low in physics server
 2016-09-16 09:19:35 +01:00
erwincoumans 79d24db60f Merge pull request #784 from erwincoumans/master 
experimental Inverse Kinematics for KUKA iiwa exposed in
 2016-09-14 02:52:09 +01:00
erwincoumans e5a8eb2425 rolling friction -> combine using rolling*normal friction, add for both objects. 
rolling friction -> only along the normal, until we have separate rolling friction coefficients on normal and non-normal directions
Don't teleport with grasping controller (VR)
Tune VR grasping a bit.
 2016-09-12 19:10:20 +01:00
erwincoumans af7c44d360 Merge pull request #775 from YunfeiBai/master 
Compute IK with Bullet body Jacobian
 2016-09-12 12:45:05 +01:00
erwincoumans 81749e7065 Merge pull request #780 from erwincoumans/master 
pybullet: add option to use NumPy to speed up, thanks to moof2k
 2016-09-11 12:03:20 +01:00
erwincoumans 18ef164e7c revert numpy test/travis.yml 2016-09-11 10:47:00 +01:00
erwincoumans c093c04be0 Update .travis.yml 2016-09-11 10:37:23 +01:00
erwincoumans 6a9d2d6084 Update appveyor.yml 2016-09-11 10:10:25 +01:00
erwincoumans 055ea49eff numpy update test travis.yml 2016-09-11 08:57:05 +01:00
erwincoumans 5abe6d7e38 Merge pull request #777 from erwincoumans/master 
init ERP for second btMultiBodyJointMotor,
 2016-09-11 07:09:32 +01:00
erwincoumans 30bd1d7362 Merge pull request #773 from erwincoumans/master 
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
 2016-09-09 15:22:12 -07:00
erwincoumans 00babd507f Merge pull request #772 from erwincoumans/master 
merge pybullet, make husky wheels soft/compliant as a test.
 2016-09-08 12:41:06 -07:00
erwincoumans f4ac577baf Merge pull request #771 from bingjeff/master 
pybullet tweaks for double precision
 2016-09-07 17:36:01 -07:00
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
erwincoumans 4944aca28b Update our_gl.cpp 2016-09-06 13:26:08 -07:00
erwincoumans d5ec5ca9a0 Update IDConfig.hpp 2016-09-06 13:07:06 -07:00
erwincoumans 630fcda38b fix compile issue pybullet on MSVC 2010 2016-09-03 09:53:21 -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
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
erwincoumans 23f7293a25 Merge pull request #768 from erwincoumans/master 
implement pybullet.getContactPointData(), two optional object unique …
 2016-09-01 22:31:06 -07:00
Erwin Coumans 842863c04f add commented-out line in build_visual_studio.bat to show how to build pybullet on Windows 2016-09-01 21:37:52 -07:00
Erwin Coumans fe54f146ad Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-01 21:26:38 -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 03f09042e2 Merge pull request #766 from erwincoumans/master 
[SharedMemory] Calculate inverse dynamics now uses world gravity.
 2016-09-01 14:37:50 -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
erwincoumans c7ad8f2a3d Merge pull request #1 from bingjeff/master 
[SharedMemory] Calculate inverse dynamics now uses world gravity.
 2016-09-01 11:18:02 -07:00
erwincoumans 7790ee2f02 fix compile issue with pybullet.c on Visual Studio 2016-08-31 16:05:42 -07:00
erwincoumans 552da3adb5 Merge pull request #764 from erwincoumans/master 
preparation for KUKA IK tracking example
 2016-08-30 17:23:13 -07:00
erwincoumans 4ebd6b144b Merge pull request #763 from ludi1001/enable-load-inertia-from-urdf 
Add flags to load inertia values from URDF.
 2016-08-30 08:59:29 -07:00
Erwin Coumans e47c74ce0b prevent crash when using --opengl2 option in ExampleBrowser. 2016-08-29 11:48:31 -07:00