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a0e507280ca7ad7b6212ae80e7db933df11a687f
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159 Commits

Author SHA1 Message Date
erwin coumans
a0e507280c Implement CMD_INIT_POSE to set base position, base orientation and joint position (angle). 
See PhysicsClientExample for example use of CMD_INIT_POSE.
Change: CMD_INIT_POSE uses m_initPoseArgs and not m_sendDesiredStateCommandArgument
 2015-10-13 22:23:28 -07:00
erwin coumans
4a29986662 initial support for multiple robots in shared memory API 2015-10-13 11:32:25 -07:00
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8d26ff356d allow links without collision shapes in btMultiBody URDF importer 2015-09-25 17:00:44 -07:00
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5e4badc099 make PhysicsClient an interface class, and move shared memory implementation 
of physics client into PhysicsClientSharedMemory class/file.
This will allow implementation of UDP and other transport protocols to a physics server.
 2015-09-24 22:50:34 -07:00
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e05825f639 improvements to the shared memory physics API: 
support picking in C API etc.
 2015-09-24 22:42:22 -07:00
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23bdd0ed36 more work on physics client c-api over shared memory 2015-09-17 09:37:44 -07:00
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003a42478b another step closer to useable shared memory C API 
(force/torque sensor needs new API)
in a nutshell, users of shared memory physics API should not
directly poke into shared memory, not fill 'SharedMemorCommand'
nor read SharedMemoryStatus directly. The C-API declares 'handles' for those,
to avoid it from happening.
 2015-09-16 23:09:10 -07:00
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3d10338ed5 fix warnings (thanks to Aaron!) 2015-09-10 17:52:41 -07:00
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2257ec05ad don't compensate for COLLADA up axis in collision element for now 
(todo: let user override COLLADA up axis, some URDF files are inconsistent)
 2015-09-10 17:36:19 -07:00
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d72cda101c fixes in shared memory client/server: check for valid pointers 2015-09-09 15:14:47 -07:00
erwincoumans
e4b5f4730d Merge pull request #473 from takuyanakaoka/detach-shared-mem 
Detach posix shared memory correctly
 2015-09-09 15:13:27 -07:00
Takuya NAKAOKA
4cbd86a058 Detach posix shared memory correctly 
* shmget() fails after shmctl() is called with IPC_RMID. This patch
removes shmget() in releaseSharedMemory so that a client can detach
a shared memory correctly after a server removed it.
* A server should also detach a shared memory.
 2015-09-09 12:35:26 +09:00
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5be9119455 run the PhysicsServerExample 'stepSimulation' smoother 
fix a warning in ThirdParty/stb_image
fix an single/double precision issue in btPolyhedralContactClipping.cpp
 2015-09-08 13:39:09 -07:00
erwin coumans
2909b5fae3 add picking to shared memory physics server 2015-09-04 11:28:08 -07:00
erwin coumans
f75df90d82 Allow batches of debug lines. The PhysicsClientExample rendering is still slow (one line at a time, instead of batches) 
Prepare for IMU sensor in Shared Memory Server
 2015-09-03 14:18:22 -07:00
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5a0ca58436 fix force/torque feedback 2015-08-31 12:36:08 -07:00
Erwin Coumans (Google)
98c93a7330 fix inline, __inline for _WIN32 2015-08-27 18:13:54 -07:00
Erwin Coumans (Google)
3d130d9d66 reset simulation in test/SharedMemory/test for proper cleanup, 
and it can restart without shutting down/restarting physics server
w
 2015-08-27 17:51:31 -07:00
Erwin Coumans
2e7949bb3e fix some warnings 2015-08-26 15:26:53 -07:00
erwin coumans
faab737738 add a robot joint sensor example, reading joint reaction forces/torques using the shared memory API 2015-08-24 15:26:29 -07:00
erwin coumans
46f161ec02 fix WIN32 build for b3Win32ThreadSupport 2015-08-24 10:12:13 -07:00
Erwin Coumans
9ec08592b6 fix a copy/paste typo, thanks Roland! 2015-08-21 18:18:12 -07:00
Erwin Coumans
74fda9ff85 simple multi threading test 2015-08-21 15:18:18 -07:00
Erwin Coumans
362887987c add example/MultiThreading functions 2015-08-21 11:09:53 -07:00
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bbc450a3de position/velocity control through constraint for shared memory server 2015-08-20 14:57:14 -07:00
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63873e2926 fix issue, cannot assume 16-byte alignment in shared memory, 
causing crashes when SIMD btVector3 is stored on Mac OSX.
 2015-08-20 08:09:22 -07:00
erwincoumans
081a40d254 initial implementation to send debug lines from physics server to client, 
need to add streaming because memory is too small to store all lines
initial test of PD control in physics server, need to switch to PD control for motor constraint, instead of using external forces.
 2015-08-19 22:51:16 -07:00
Erwin Coumans
d08a7af7e2 fix compile issue in double precision build 2015-08-10 14:49:52 -07:00
Erwin Coumans
f89d587a02 update tutorial for SIGGRAPH course 
allow multiple graphing windows at the same time
 2015-08-10 14:30:00 -07:00
Erwin Coumans
edaa92c286 fix retina API 2015-08-07 16:21:33 -07:00
Erwin Coumans
3c0e67298a add command-line option --disable_retina for Mac 
improve TimeSeries and Dof6ConstaintTutorial
 2015-08-07 16:05:03 -07:00
erwincoumans
de4dcdbb18 more tutorial work 
add fixed_timestep command-line parameter, 0 means disabled (variable timestep)
 2015-08-07 14:18:57 -07:00
erwincoumans
89c2a729ce Improved simple TimeSeriesCanvas 
Fixes in RobotControlExample
Disable gravity by default in PhysicsServer
 2015-08-07 13:17:33 -07:00
Erwin Coumans
03d991c92b add command-line argument for example browser and shared memory app, --shared_memory_key=<int> 
fix some shared memory issues, client uses attach/detach, server uses create/remove shared memory
implement CMD_RESET_SIMULATION
 2015-08-07 00:13:26 -07:00
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f750275cf9 fix _WIN32 build (there is no <err.h>) 2015-08-06 12:07:08 -07:00
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46fae61c69 fixes in shared memory: 
only allow server to create and initialize shared memory,
client will report failure
intercept signals to cleanup shared memory in standalone app, thanks to
Roland Philippsen.
 2015-08-06 11:59:31 -07:00
Erwin Coumans
dcab0e2b1f use multibody by default when using FILE/Open URDF (instead of maximal coordinate rigid body+typed constraints) 2015-08-06 00:35:03 -07:00
erwin coumans
6d8ad72d68 add Tutorial.cpp files 
load textured sphere8.obj by default as a test
tiny_obj_loader don't crash when mtl is not found
fix camera perspectives for some examples
 2015-08-05 19:22:48 -07:00
erwin coumans
a5669d2ffd add a textured sphere8.obj test with obj loader 
fix shaders, so that shadowed and non-shadowed are matching
fix registerGraphicsUnitSphereShape API (level of detail), support textured sphere too
add support for textured cube
add start for a Tutorial.cpp
 2015-08-05 19:03:27 -07:00
Erwin Coumans
250068d5eb re-enable enter key in example browser 2015-08-04 22:03:53 -07:00
erwincoumans
b316f30040 improve usability of ExampleBrowser 
store command-line arguments in bulletDemo.txt
save/load of configuration, save demo name instead of index
add setBackgroundColor as example (background_color_red) and
mouse move/wheel speed config (mouse_wheel_multiplier and mouse_move_multiplier)
(saved after changing the demo)
default btIDebugDraw colors can be changed
b3CommandLineArgs::GetCmdLineArgument returns bool, and b3CommandLineArgs::addArgs added
fix copy/paste
 2015-08-04 18:24:30 -07:00
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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
erwincoumans
19c5be5646 small progress towards shared memory C-api and test.c. 2015-07-30 23:22:44 -07:00
Erwin Coumans
26531f3fbc fix some warnings, disable gimpact by default in world importer, 
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
ad03dba2fa update stb_truetype.h to latest from 
https://raw.githubusercontent.com/nothings/stb/master/stb_truetype.h
 2015-07-23 23:17:58 -07:00
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3fe9138e8c minor refactoring 2015-07-23 11:51:25 -07:00
erwin coumans
0fe6d343bc move m_updateFlags to command, and make it 64bit 2015-07-23 10:51:09 -07:00
Erwin Coumans
812c67e221 fix various warnings, more work on shared memory API 2015-07-22 18:06:05 -07:00
Erwin Coumans
05fc203ec1 Separate SharedMemoryStatus from SharedMemoryCommand 
Added CMD_CMD_SEND_PHYSICS_SIMULATION_PARAMETERS (set gravity as example)
and CMD_INIT_POSE, not fully implemented yet.
 2015-07-21 21:46:28 -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