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525 Commits

Author SHA1 Message Date
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
Erwin Coumans
ab8f498d18 avoid infinite recursion in b3Clock::usleep 2016-08-18 13:44:04 -07:00
erwin coumans
5b0253ed47 Remove undesired assert, it makes pybullet mistakes fail in c++ 
Shared memory api/pybullet: by default, set joint motors in position PD mode with target 0, to maintain 0 joint angle.
pybullet: allow setJointControlMode(body, link, POSITION_CONTROL,targetPos etc.
 2016-08-18 13:10:28 -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
8f21e2bca9 fix compile issue 2016-08-17 20:01:45 -07:00
Erwin Coumans
17c16ccfa0 pybullet, deal with overflow of joints (maximum of 128 joints/links per multibody at the moment) 
increase from 64 to 128 joints in shared memory API/pybullet
fix potential issue in tinyrenderer, related to missing segmentation mask buffer
report error if CMD_REQUEST_ACTUAL_STATE command on a multibody that exceed the number of links,
todo: stream data to allow arbitrary large number of links in shared memory API
 2016-08-17 19:35:52 -07:00
Erwin Coumans
7c9441c3f5 by default, have a strong force keep the robot together, instead of floppy joints. 2016-08-17 10:30:50 -07:00
Erwin Coumans
dce73f48ae Merge remote-tracking branch 'bp/master' 2016-08-17 10:24:12 -07:00
Erwin Coumans
463f3e59c8 minor tweak in F1/screenshot handling. Note you can use --png_skip_frames=x command-line argument 2016-08-17 10:18:33 -07:00
yunfeibai
591f922d97 Support loading Urdf as btRigidBody with RobotSimAPI. Loading Sdf as btRigidBody is work in progress. 2016-08-16 17:56:30 -07:00
yunfeibai
4bc31394a0 Allow choosing loaded as btRigidBody with RobotSimAPI. 2016-08-16 16:57:48 -07:00
yunfeibai
9c4cfde3d6 Fixed constraint for btMultiBody and btRigidBody. 2016-08-15 13:19:00 -07:00
Erwin Coumans
985a6c203f fix typo 2016-08-13 12:38:40 -07:00
erwin coumans
3bdcf23a05 Add sleep to avoid 100% busy CPU loop in PhysicsServerExample 
Added btClock::usleep
Fix broken TinyRenderer example code.
 2016-08-13 12:21:18 -07:00
Erwin Coumans
238ba8c642 remote a c++11-style constructor 2016-08-12 14:28:02 -07:00
Erwin Coumans
ceceaa16be make some changes to make the previous example code changes backward compatible 2016-08-12 14:18:46 -07:00
Erwin Coumans
c75bebcafe revert accidently renaming of m_depthvalues4 2016-08-12 13:55:37 -07:00
Erwin Coumans
4abe083388 fix pybullet 2016-08-11 15:58:51 -07:00
Erwin Coumans
4bb488f65e reset canvas location 2016-08-11 15:02:00 -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
f416644481 set the camera, even in multi-threaded mode 2016-08-11 11:20:31 -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
f5fca86d49 remove debug printf 2016-08-02 11:14:21 -07:00
Erwin Coumans
f304fd7611 add one more pybullet renderImage API and testrender.py example 
tweak Bullet Inverse Dynamics, work-around compiler issue
 2016-08-02 11:12:23 -07:00
Erwin Coumans
93db3d7ba6 fix CMD_INIT_POSE+INIT_POSE_HAS_INITIAL_ORIENTATION, 
setWorldToBaseRot takes inverse orientation (need to remove that API!)
 2016-08-02 09:30:33 -07:00
Erwin Coumans
04cd9e18d6 add [] in error message of texture loading, to show leading/trailing spaces 2016-08-01 23:53:38 -07:00
Erwin Coumans
a608f9bfdd fix trailing space issue in tinyobjloader/mtl files. 2016-08-01 23:46:35 -07:00
Erwin Coumans
b759ab8a91 fix overflow visual shape in COLLADA .dae file importer. 2016-08-01 23:45:14 -07:00
erwincoumans
0c0b4be665 Merge pull request #722 from matpalm/fixSetIdentity 
fix setidentity bug
 2016-07-29 14:50:16 -07:00