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Author SHA1 Message Date
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
erwincoumans
aee6b35382 Merge pull request #746 from erwincoumans/master 
bugfix: in torque control mode, torque index starts at 6.
 2016-08-18 16:11:46 -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
013a702b2f Merge remote-tracking branch 'bp/master' 2016-08-18 13:44:29 -07:00
Erwin Coumans
ab8f498d18 avoid infinite recursion in b3Clock::usleep 2016-08-18 13:44:04 -07:00
Erwin Coumans
d4485ca3d9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-18 13:42:18 -07:00
erwincoumans
2a3020d975 Merge pull request #745 from erwincoumans/master 
Remove undesired assert, it makes pybullet mistakes fail in c++
 2016-08-18 13:22:45 -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
erwincoumans
d6547f6ee4 Merge pull request #744 from erwincoumans/master 
Fix some inconsistencies in URDF file handling between btRigidBody an…
 2016-08-18 10:10:52 -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
erwincoumans
8a780fa0a4 Merge pull request #743 from erwincoumans/master 
tweak in BEB F1/screenshot handling, 	by default, have a strong force keep the robot together
 2016-08-17 20:13:48 -07:00
Erwin Coumans
8f21e2bca9 fix compile issue 2016-08-17 20:01:45 -07:00
erwincoumans
c50490a6d9 Merge pull request #742 from sinkingsugar/master 
Fixed btKinematicCharacterController runtime crashes
 2016-08-17 19:54:14 -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
erwincoumans
0aef7afbbd Merge pull request #739 from YunfeiBai/master 
Fixed constraint for btMultiBody and btRigidBody.
 2016-08-17 09:53:20 -07:00
Giovanni Petrantoni
a4a6a3ce57 Fixed btKinematicCharacterController runtime crashes coming from previous pull request (more testing is necessary) 2016-08-17 14:19:58 +09:00
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
erwincoumans
e982b2b5dd Merge pull request #738 from erwincoumans/master 
Add sleep to avoid 100% busy CPU loop in PhysicsServerExample
 2016-08-13 18:13:08 -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
erwincoumans
818af33dab Merge pull request #736 from erwincoumans/master 
revert accidently renaming of m_depthvalues4
 2016-08-12 14:43:21 -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
erwincoumans
fec13f2d0a Merge pull request #735 from erwincoumans/master 
set the camera, even in multi-threaded mode
 2016-08-11 17:37:02 -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
erwincoumans
27d3055638 Merge pull request #731 from erwincoumans/master 
add pybullet render API with yaw/pitch/roll option, add pybullet testrender.py example
 2016-08-09 19:24:11 -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
erwincoumans
8a0a61b7b3 Merge pull request #727 from erwincoumans/master 
add one more pybullet renderImage API, add workaround for gcc vec/btVectorX BulletInverseDynamics issue
 2016-08-04 10:29:12 -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
erwincoumans
7d76183e13 Merge pull request #726 from erwincoumans/master 
fix CMD_INIT_POSE+INIT_POSE_HAS_INITIAL_ORIENTATION
 2016-08-02 09:54:48 -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
30ae7f7514 Merge remote-tracking branch 'bp/master' 2016-08-02 08:11:41 -07:00
Erwin Coumans
2597e9eddb Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-02 08:11:27 -07:00
erwincoumans
d69d569ae8 Merge pull request #725 from erwincoumans/master 
fix overflow visual shape in COLLADA .dae importer, trailing space in .mtl names.
 2016-08-02 00:17:41 -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