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Commit Graph

790 Commits

Author SHA1 Message Date
Benjamin Ellenberger
134c788f93 Change all btVector/btTransform to const btVector/btTransform& for SIMD alignment. 2016-10-19 18:35:01 +02:00
erwin coumans
eda400d14c Merge remote-tracking branch 'bp/master' 2016-10-19 07:43:46 -07:00
erwin coumans
3b8090fcc1 fix a pybullet.c issue on some compilers (don't allow for (int i=...) 
make the build_visual_studio_vr_pybullet_double.bat smart enough to find any Python installation in c:\python*
 2016-10-19 07:42:55 -07:00
erwin coumans
f97cb7002d first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API 
b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
 2016-10-18 22:05:28 -07:00
yunfeibai
7630bf62d5 Add USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD option. 2016-10-18 17:38:43 -07:00
yunfeibai
e112b15281 Move btSoftMultiBodyDynamicsWorld to BulletSoftBody. 2016-10-17 23:40:38 -07:00
yunfeibai
6f0a404b1e More fix for integration test. 2016-10-17 16:20:15 -07:00
yunfeibai
3ffd95fbab Merge remote-tracking branch 'origin/master' 2016-10-17 13:20:31 -07:00
yunfeibai
14fc8ae8c2 Restore original demo settings. 2016-10-17 13:19:34 -07:00
yunfeibai
b07df4d504 Load bunny through shared memory API and RobotSimAPI. Create grasp bunny example. 2016-10-17 13:01:04 -07:00
erwin coumans
d1ab6c144b change some defaults in MultiBody example, a slider constraint without limits is a bad idea 2016-10-16 11:52:38 -07:00
Erwin Coumans
da4098166e fix case in #include 2016-10-14 17:25:52 -07:00
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
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
yunfeibai
880ee097fa Simulate bunny in grasp demo and set collision margin. 2016-10-12 15:34:45 -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
yunfeibai
379f2ac933 Load bunny to to the world in the grasp demo. 2016-10-12 11:51:04 -07:00
Mat Kelcey
9387ef763d handle CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED/FAILED in PhysicsClientSharedMemory::processServerStatus 2016-10-12 10:46:07 -07:00
yunfeibai
9ab28ed466 Fix the link transform in world frame in IK. 2016-10-12 09:57:14 -07:00
yunfeibai
4fe86d2a1d Add btSoftMultiBodyDynamicsWorld. 2016-10-11 16:15:44 -07:00
erwin coumans
a6225d4cd0 add check for #dof of KUKA in VR demo 
disable debug drawing again in VR demo
 2016-10-09 21:48:56 -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
c5d4f7b3b3 disable VSYNC for VR 
clamp KUKA motor motion to be less abrupt
 2016-10-08 07:51:45 -07:00
erwin coumans
4cd401212c SharedMemory API: don't enable rolling friction by default for programmatic created rigid bodies 2016-10-07 17:52:14 -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
erwin coumans
d59b0f05a4 expose b3PhysicsParamSetNumSolverIterations 
split Visual Studio project generation batch file in regular and VR+pybullet+double precision build.
disable KUKA iiwa joint limit hack
 2016-10-05 16:31:48 -07:00
yunfeibai
0d58ebb311 Fix the desired angular velocity in IK to prevent flip motion. 2016-10-05 14:24:49 -07:00
erwin coumans
d6f449762b avoid wavefront obj texture index out-of-bounds (most obj out-of-bounds are not checked) 
use second controller button
 2016-10-04 08:53:59 -07:00
YunfeiBai
ebe5d9bb84 Add null space task as an option for IK in VR. 2016-09-30 16:47:33 -07:00
YunfeiBai
65091c309e Remove chess pieces. 2016-09-30 13:18:54 -07:00
YunfeiBai
8befdcba1a Modify table rendering. 2016-09-30 12:30:34 -07:00
YunfeiBai
a2dacce3d4 Move object around to reset the scene in VR. 2016-09-30 11:57:30 -07:00
erwincoumans
bcfb0aa473 enable textured table (no legs), place a few jenga/domino on table 2016-09-30 08:40:24 -07:00
yunfeibai
7e8d8b0488 Expose rest pose for null space task to API. 2016-09-30 01:03:40 -07:00
yunfeibai
1c1d3db26d An example to compare with and without null space task in IK. 2016-09-30 00:43:15 -07:00
yunfeibai
ee00696ae9 Test four IK modes: with and without orientation constraint, with and without null space task. 2016-09-30 00:15:51 -07:00
yunfeibai
fd3cb061cb Expose IK with null space task to shared memory API and RobotSimAPI. 2016-09-30 00:05:00 -07:00
yunfeibai
29f890ae10 Add desired null space velocity computation. 2016-09-29 22:45:31 -07:00
yunfeibai
94c7bbe8e3 Add null space task for IK. 2016-09-29 17:12:51 -07:00
yunfeibai
0ee12475af Add matrix inverse computation in BussIK. 2016-09-29 15:45:57 -07:00
YunfeiBai
67c49fa701 Merge branch 'master' of https://github.com/YunfeiBai/bullet3 2016-09-29 12:09:02 -07:00
YunfeiBai
f181ea4ccd Add new gripper in VR. 2016-09-29 12:07:54 -07:00
yunfeibai
dd10dd6a3f Add a new one motor gripper to use Featherstone for slider and constraint for revolute joint. 2016-09-29 12:07:00 -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
YunfeiBai
619f0d9d13 fixes in default VR setup 2016-09-28 16:07:55 -07:00
Ian Wilkes
a2baf446ea Fixed mismatched new and delete in BussIK VectorRn and MatrixRmn 2016-09-28 13:55:16 -07:00
YunfeiBai
dacca09614 Merge remote-tracking branch 'bp/master' 2016-09-28 13:54:35 -07:00
YunfeiBai
032156fbf2 Merge branch 'master' of https://github.com/bulletphysics/bullet3 2016-09-28 13:54:18 -07:00
YunfeiBai
a967163665 Add chess pieces. 2016-09-28 13:46:41 -07:00