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Author SHA1 Message Date
erwincoumans fe46ee8adf Merge branch 'master' of https://github.com/erwincoumans/bullet3 
Conflicts:
	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2016-09-01 13:32:07 -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
erwincoumans c7ad8f2a3d Merge pull request #1 from bingjeff/master 
[SharedMemory] Calculate inverse dynamics now uses world gravity.
 2016-09-01 11:18:02 -07:00
Jeffrey Bingham 1c65cae6d0 [SharedMemory] Calculate inverse dynamics now uses world gravity. 
Small change that takes the world gravity and applies it to the
body during the call to inverse dynamics in the shared memory
interface. Otherwise the gravity vector is left at the default
value and there is currently no interface to set the gravity
for the inverse dynamics system.
 2016-09-01 10:46:34 -07:00
erwincoumans 7790ee2f02 fix compile issue with pybullet.c on Visual Studio 2016-08-31 16:05:42 -07:00
yunfeibai 9c124b5896 Rolling friction demo for sphere and torsional friction demo for two point contact. 2016-08-30 17:50:37 -07:00
erwincoumans 552da3adb5 Merge pull request #764 from erwincoumans/master 
preparation for KUKA IK tracking example
 2016-08-30 17:23:13 -07:00
Erwin Coumans e6865a1186 Merge remote-tracking branch 'bp/master' 2016-08-30 14:44:35 -07:00
Erwin Coumans a30ff20e6b preparation for KUKA IK tracking example 2016-08-30 14:44:11 -07:00
yunfeibai d784c61b61 Add rolling friction, set rolling friction coefficient from urdf, and set up two point contact experiment. 2016-08-30 11:19:23 -07:00
erwincoumans 4ebd6b144b Merge pull request #763 from ludi1001/enable-load-inertia-from-urdf 
Add flags to load inertia values from URDF.
 2016-08-30 08:59:29 -07:00
Logan Su f86ce4d44b Add flags to load inertia values from URDF. 2016-08-29 15:09:18 -07:00
Erwin Coumans 900fd86d58 fix R2D2GraspExample 2016-08-29 12:35:02 -07:00
Erwin Coumans e47c74ce0b prevent crash when using --opengl2 option in ExampleBrowser. 2016-08-29 11:48:31 -07:00
Erwin Coumans 68efd7dd6e Merge remote-tracking branch 'bp/master' 2016-08-29 10:38:59 -07:00
Erwin Coumans 9fc438e742 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-29 10:38:51 -07:00
erwincoumans fb57689fad Merge pull request #760 from erwincoumans/master 
Disable 'm_robotSim.setNumSimulationSubSteps' because it is not neede…
 2016-08-29 10:36:51 -07:00
erwin coumans 4094b9f0df Disable 'm_robotSim.setNumSimulationSubSteps' because it is not needed at the moment 
Fix issue in contact/friction between btMultibody and btRigidBody (external force/torque of btRigidBody was not taken into account during contact/friction setup)
Allow 0.1 mm slop in contact, to avoid loosing contact. Todo: allow contacts with positive distance in multibody solver.
 2016-08-27 13:44:18 -07:00
Erwin Coumans 887e88a490 Merge remote-tracking branch 'bp/master' 2016-08-27 10:37:48 -07:00
Erwin Coumans fb3f2d896c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-27 10:37:35 -07:00
Michael Mc Donnell 4636efae2b [Bullet3OpenCL] Fix check for null-terminated string 
The code essentially dead because it was checking the pointer to an array for null. The check will alway return true. Instead the code was meant to check if the string had anything in it after the call to clGetDeviceInfo.
 2016-08-27 08:13:42 -07:00
Michael Mc Donnell d5dcb34188 [Bullet3OpenCL] Fix wrong parantheses around b3Fabs 
The absolute value of m_appliedImpulse was supposed to be compared to the breakingThreshold. Instead a boolean was created from the comparison, and the absolute value of that was taken (which makes no sense).
 2016-08-27 08:13:42 -07:00
erwincoumans c741b17da8 Merge pull request #758 from YunfeiBai/master 
Expose slider constraint in RobotSimAPI.
 2016-08-26 12:26:08 -07:00
erwincoumans 79be5800cb Merge pull request #757 from erwincoumans/master 
fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBo…
 2016-08-26 12:08:29 -07:00
yunfeibai 5b9b5178f9 Expose slider constraint in RobotSimAPI. 2016-08-26 10:35:10 -07:00
erwin coumans c5164e503f fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBodyDoubleData 
causing serialization issue in  URDF/SDF loading in double-precision mode on Windows 32bit.
(it was fine on Mac/Linux 64bit)
bump serialization version to 2.85, as we change the file format
fix in name clash in makesdna.cpp -> intptr_t is already defined.
 2016-08-26 10:00:29 -07:00
erwincoumans c29d445b94 Merge pull request #750 from TIHan/quick_fix1 
Fixed btKinematicCharacterController from clipping through walls in corners.
 2016-08-25 20:26:42 -04:00
erwincoumans 0baef2b84e Merge pull request #754 from YunfeiBai/master 
Set physics clock subdivider and fixed constraint in RobotSimAPI.
 2016-08-25 20:24:54 -04:00
erwincoumans 6c961cadf0 Merge pull request #755 from erwincoumans/master 
[InverseDynamics] Support for Jacobians & derivatives
 2016-08-25 20:20:28 -04:00
Erwin Coumans 2861d2ae59 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-25 20:02:34 -04:00
Erwin Coumans ba8964c4ac [InverseDynamics] Support for Jacobians & derivatives 
This change adds support for calculating Jacobians and
dot(Jacobian)*u terms, along with the required support for
the 3xN matrices in the standalone math library.
It also adds functions to compute kinematics only (position, velocity, accel).
To facilitate tests, the Cl also adds a RandomTreeCreator to create
randomized multibody trees.
Thanks to Thomas Buschmann for this contribution!
 2016-08-25 16:24:28 -07:00
yunfeibai c26da8440d Add slider constraint. 2016-08-25 11:54:59 -07:00
yunfeibai 758ca025d5 Set physics clock subdivider. 2016-08-24 14:25:06 -07:00
yunfeibai 3b25489d89 Further fix for integration test. 2016-08-24 12:44:24 -07:00
yunfeibai ecbf94abaa Fix issues in build test. 2016-08-24 11:31:08 -07:00
erwincoumans d8ee189908 Update README.md 2016-08-23 00:05:04 -04:00
erwincoumans dacd428d08 Merge pull request #749 from erwincoumans/master 
debug draw contact normals (1cm) use black color
 2016-08-22 23:53:55 -04:00
yunfeibai d46710e447 Expose fixed constraint in RobotSimAPI. 2016-08-22 18:14:29 -07:00
erwincoumans db66b06640 Merge pull request #753 from YunfeiBai/master 
Add micro sleep to fix slowness problem in VR.
 2016-08-22 17:20:46 -04:00
yunfeibai 8eccac6fd8 Update CMakeLists to be the same as upstream. 2016-08-22 10:26:56 -07:00
Will Smith ba4c389c84 Fixed btKinematicController from clipping through walls in corners. 2016-08-19 18:46:07 -05:00
YunfeiBai 6751648bce add some micro-sleep to prevent 100% CPU/memory bus hogging, preventing the graphics thread from making progress. 
debug draw color black for contact normal
move debug draw option for constraint frames into 'k' key.
 2016-08-19 13:58:53 -07:00
YunfeiBai 94161246d9 Merge remote-tracking branch 'bp/master' 2016-08-19 12:02:48 -07:00
YunfeiBai 4611f5f097 Merge branch 'master' of https://github.com/YunfeiBai/bullet3 2016-08-19 12:01:09 -07:00
YunfeiBai d26c424e11 modify cmake for pybullet 2016-08-19 12:00:55 -07:00
Erwin Coumans 7db9a020b9 debug draw contact normals (1cm) use black color 2016-08-19 10:55:21 -07:00
erwincoumans e5626b954f Merge pull request #748 from erwincoumans/master 
avoid MT crash in VR/physics server due to printf from separate thread.
 2016-08-19 10:49:25 -07:00
erwin coumans 62d5b7c5c0 add single step simulation, using 'o' key. use 'i' key to suspend simulation first 
default background color a bit darker, to show debug lines
tweaked contact point rendering a bit
 2016-08-19 10:30:02 -07:00
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
erwincoumans 5c9b283a99 Merge pull request #747 from erwincoumans/master 
revert change of default position control in shared memory api/pybullet
 2016-08-18 20:43:11 -07:00