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73 Commits

Author SHA1 Message Date
Erwin Coumans
684b69f4dd fix applied too fast 2018-08-03 17:57:09 -07:00
Erwin Coumans
02b0e34bda v_ptr 2018-08-03 17:53:07 -07:00
Erwin Coumans
97baccd1a5 revert regression in btMultiBody.cpp 2018-08-03 17:38:01 -07:00
Jeongseok Lee
deea2bb411 Use const reference for referencing existing members 2018-07-09 20:59:29 -07:00
Jeongseok Lee
6dbdf02808 Minor code optimization in multibody forward dynamics 2018-07-09 20:54:13 -07:00
Erwin Coumans
fbbd675ed6 expose PyBullet API to wakeup/put objects to sleep, enable/disable deactivation 
fix wakeup -> reset deactivation clock
 2018-06-15 21:26:26 -07:00
Erwin Coumans
134beaf8dc fix uninitialized m_companionId in btMultiBody (only happens if sleeping is enabled) 2018-06-05 16:40:41 -07:00
erwincoumans
e721a9cdf5 revert testing changes 2018-06-01 22:02:17 -07:00
erwincoumans
92579f9196 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2018-06-01 09:35:15 -07:00
erwincoumans
9ffb05eb3b fix double->float issue by cast, fixes issue #1510 
fix possible out-of-bounds access in btMultiBody
 2018-01-15 11:59:00 -08:00
erwincoumans
22b4809891 leave m_useGlobalVelocities to false, until enabled, for backward compatibility 
use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
 2018-01-10 11:16:50 -08:00
erwincoumans
c4b1b84687 Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis 
https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section)
Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
 2018-01-09 22:47:56 -08:00
Erwin Coumans
e97b751781 further work on urdfEditor.py, fix some serialization issues 2018-01-08 12:25:56 -08:00
Erwin Coumans
0326fa93a8 made some progress in saving and restoring the state during the simulation, with identical results. 
Option to de/serialize btPersistentContactManifolds and fix lossy conversion during btMultiBody de/serialization of base world transform
(serialize the quaternion, not the converted 3x3 matrix)
There are still several caches not taken into account, and btMultiBody links/constraints are not deserialized yet etc.
See examples\pybullet\examples\saveRestoreState.py for an example.
 2017-12-30 14:19:13 -08:00
erwincoumans
d6b3f735b6 fix a bug related to joint reaction forces (clearMultiBodyConstraintForces was clearing forces after they were computed in some cases) 2017-11-09 10:46:13 -08:00
Erwin Coumans
344005a8f0 catch invalid mass/inertia instead of division by zero/nan. also, avoid indexing <0 2017-11-07 19:25:14 -08:00
Erwin Coumans
c21e7a8a8e fix potentially uninitialized data warning 2017-10-14 10:16:33 -07:00
Erwin Coumans
d17faddff2 fix for b3RequestActualStateCommandComputeLinkVelocity/getLinkState link velocities for static links 2017-06-13 13:51:38 -07:00
Erwin Coumans
a7aed37632 work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon) 
pybullet/C-API, expose linear/angular damping
fix some warnings (param name needs to be same in .h and .cpp)
fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread)
fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
 2017-06-04 22:04:16 -07:00
Erwin Coumans
fc6fb7b14c initialize values (padding etc) help asan/msan tests 2017-05-09 18:00:28 -07:00
Erwin Coumans
7503418c72 Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. 
Add several MSVC optimization flags to cmake.
Bump up VERSION because serialization format changed
Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo.

pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity
fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
 2017-03-26 13:06:46 -07:00
erwincoumans
f27eb19633 revert m_linearDamping to previous (0.04f) 
it broke many tests with empirical check values
 2017-03-23 19:59:53 -07:00
Erwin Coumans
21d1827c9f revert previous cmake copy->symlink (doesn't work on Windows) 
fix timing issues at small timestep, disable default linear damping for btMultiBody
 2017-03-23 17:30:59 -07:00
Szabolcs Dombi
953bc0d3e7 float to btScalar 2017-03-13 18:22:36 +01:00
Erwin Coumans
cf9f022d39 [pybullet] getNumConstraints, getConstraintInfo APIs. 
[pybullet] updated pybullet_quickstartguide.pdf
Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal.
pybullet getConstraintInfo
Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
 2017-01-22 19:08:31 -08:00
Erwin Coumans
c0c4c8ba3f fix many warnings 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
 2017-01-15 22:26:11 -08:00
Erwin Coumans
710ac09b56 fix clearVelocities (should use 6+dofCount, not 6+numLinks 
fixes issue 878
 2016-12-11 09:16:18 -08:00
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
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
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
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
yunfeibai
9c4cfde3d6 Fixed constraint for btMultiBody and btRigidBody. 2016-08-15 13:19:00 -07:00
erwin coumans
72e329962e fix ffmpeg mp4 generation under Windows as well. 
remove static variables, make them local, to avoid multithreading issues.
 2016-07-28 18:06:03 -07:00
erwincoumans
fe92de3e50 add infrastructure float btMultiBodyLink m_jointDamping, m_jointFriction (actual damping/friction is in a separate commit) 
add door.urdf for testing damping/friction
 2016-03-17 14:54:46 -07:00
Erwin Coumans
f6a8079353 sync repo 2015-11-11 12:44:26 -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
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
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eb6663ed4b further work on shared memory API 
fix dependency of BulletDynamics to Bullet3Common (b3Printf)
 2015-08-02 14:00:43 -07:00
Erwin Coumans
8e163c984d allow to control of powered joints after loading a URDF file, through shared memory 
more refactor of shared memory joint control API
 2015-07-20 23:35:29 -07:00
Erwin Coumans
7698d5f95c fix some out-of-date comments in btMultiBody, thanks to Thomas Buschmann 
disable disactivation for btRigidBody in import urdf demo, increase strength of joint motor for btMultiBody
 2015-07-15 17:39:43 -07:00
erwincoumans
6c9ce344ea fix shadowmap crash on some Intel GPUs, see https://github.com/bulletphysics/bullet3/issues/4 
remove targetdir from all libraries in premake, so it is much easier to create a separate folder for all binary+lib
transmit the serialized btMultiBody data back from server to client, after the server loads a URDF file. This includes base+link+joint names
tweak the serialization routines, so it is easier to skip pointers and to serialize directly to a shared memory buffer
also tweak the serialization code to allow to process data without 'DNA' schema data (assuming file-DNA = memory DNA)
 2015-07-10 22:20:06 -07:00
erwincoumans
f6f76901fd First draft of btMultiBody serialization, including optional names for base, link and joints (see ImportURDFDemo/ImportURDFSetup.cpp how this is done) 
Bump up version number to 2.84 because of new serialization data.
 2015-07-09 17:36:00 -07:00
=
33b0d429ba apply newForceTorque.diff patch: it will allow to report 
joint reaction force/torque, while using impulse-based response
for btMultiBody
 2015-07-06 16:40:09 -07:00
Erwin Coumans
bc8b95dd9d remove some warnings 2015-06-26 12:59:48 -07:00
erwin coumans
3b4ad1cd5a add the option to shift the applied force/torque for a multibody joint (mobilizer) to the joint frame origin 2015-06-25 15:09:35 -07:00
Erwin Coumans
d830681674 add option for rigid body/typed constraint to set target velocity 
compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
 2015-06-24 23:19:00 -07:00
erwin coumans
b14afba350 more work-in-progress on joint-torque sensor sample and server/client shared memory API 2015-06-22 15:30:57 -07:00
erwin coumans
6e9eb13235 implement joint reaction forces for mobilizer motor/limit, by passing the constraint forces as 'external forces' and going through the Articulated Body Algorithm 
minor refactor for forwardKinematics, store the cached world transform in each btMultiBody::link
 2015-06-19 15:51:24 -07:00
erwincoumans
89edc40d61 First step in btMultiBody joint force/torque feedback. There is still some work to be done for 'mobilizer limit/motor'. 
See examples/MultiBody/TestJointTorqueSetup and examples/Constraints/TestHingeTorque for joint feedback.
 2015-06-19 09:18:27 -07:00
erwin coumans
5d40d90bd0 add btMultiBodyConstraint::finalizeMultiDof API: if you add multi-body constraints to a multi-dof btMultiBody, before it has been finalized using the btMultiBody::finalizeMultiDof call, 
then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.
 2015-03-03 13:24:06 -08:00