erwin coumans
7633cfb800
prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h
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prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)
2016-07-11 00:26:40 -07:00
erwin coumans
f469a2cb49
update to tinyrenderer synthetic camera
2016-05-31 22:55:13 -07:00
Erwin Coumans
b1adc0d9ef
avoid API change in URDFImporterInterface
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fix .obj texture loading issue
2016-05-24 09:01:03 -07:00
erwin coumans
2fc0358750
Expose a better API to allow any render engine to be used for the physics simulation when loading URDF/SDF files.
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See bullet3/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
Give the kuka_iiwa/model.urdf some blue color, not just orange, to mimick the original a bit better
Preparation for the CMD_CAMERA_IMAGE_COMPLETED command, to expose a virtual camera to the robotics API
2016-05-19 18:37:15 -07:00
yunfeibai
7929bee128
parse root transformation and test loading two robots
2016-05-11 15:52:50 -07:00
yunfeibai
06a2669b32
test load kuka arm sdf
2016-05-11 13:43:50 -07:00
yunfeibai
cbeddfc897
Modify shared memory client example to test joint motor torque measurement.
2016-04-19 16:52:47 -07:00
erwincoumans
fe92de3e50
add infrastructure float btMultiBodyLink m_jointDamping, m_jointFriction (actual damping/friction is in a separate commit)
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add door.urdf for testing damping/friction
2016-03-17 14:54:46 -07:00
erwincoumans
3b9b803683
b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API
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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)
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Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
2015-11-05 21:17:46 -08:00
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8d26ff356d
allow links without collision shapes in btMultiBody URDF importer
2015-09-25 17:00:44 -07:00
Erwin Coumans
26531f3fbc
fix some warnings, disable gimpact by default in world importer,
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use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now,
until we find the issue with some failing test cases in btMultiBody
fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable)
disable excessive debug printf in URDF2Bullet
2015-07-27 13:28:47 -07:00
Erwin Coumans
8e163c984d
allow to control of powered joints after loading a URDF file, through shared memory
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more refactor of shared memory joint control API
2015-07-20 23:35:29 -07:00
erwincoumans
4630d0abb1
fix windows build for b3ResourcePath
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replace print -> b3Printf in URDF2Bullet.cpp
2015-07-03 18:54:41 -07:00
Erwin Coumans (Google)
8517e85b21
fix various warning
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add b3ResourcePath utility, to locate resources relative to executable
2015-07-03 18:17:14 -07:00
erwincoumans
e7bafbc71c
make Bullet URDF parser more similar to the ROS URDF parser. There is still a difference in ordering of links,
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due to the use of different hash-map implementations, with a difference in iterator order
(btHashMap versus std::hashmap)
2015-06-29 21:30:44 -07:00
Erwin Coumans
d830681674
add option for rigid body/typed constraint to set target velocity
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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
1a4ce475f7
fix an issue with btMultiBodyConstraint, automatically 'finalizeMultiDof' to pre-allocate jacobian data
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enable joint limit for slider/prismatic joint in btMultiBody version of URDF loader
2015-06-05 11:46:53 -07:00
Erwin Coumans
f74e3782aa
enable prismatic joint motor in URDF demo, by default. Thanks to Takuya!
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prepare for prismatic joint limit for btMultiBody in the URDF demo.
There is an issue with it, working on fixing this.
2015-06-03 18:02:15 -07:00
erwin coumans
05bf86d95f
added LICENSE.txt and AUTHORS.txt file
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add MultiBody Custom Creation example, to show how to import data from a URDF file and fill up your own data structures.
add btMultiBody::setBaseWorldTransform method
todo: fix cmake build, this patch is premake only
2015-04-23 15:41:17 -07:00
erwin coumans
b64f5feba4
refactor of URDF importer (work-in-progress)
2015-04-22 16:35:27 -07:00
erwincoumans
a1bf9c5556
add initial examples, replacing the 'Demos/Demos3'. Will make it work cross-platform, OpenGL3/OpenGL2 and add more examples to it.
2015-04-16 09:55:32 -07:00
