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bc5e2b3d5031ed62722209f0ad758f62e4af7675
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44 Commits

Author SHA1 Message Date
erwin coumans
bc5e2b3d50 fix compile issue 2014-08-28 18:47:22 -07:00
erwin coumans
89addd438e add 'fixed' joint for btMultiBody 
improve btMultiBody version of URDF reader (still work-in-progress)
enabled planar joint for btMultiBody (untested)
enable loading from relative path for .stl meshes
 2014-08-28 18:42:08 -07:00
Erwin Coumans
6cbf89905f move the clearForceAndTorque to after the stepVelocities, 
see also https://github.com/bulletphysics/bullet3/pull/221
todo: create test
 2014-08-25 08:48:45 -07:00
Erwin Coumans
95f207e786 fix another warning 2014-08-22 11:51:22 -07:00
Erwin Coumans
af5883c6e8 remove a lot of warnings (more todo in demos and serialization code) 2014-08-22 10:29:05 -07:00
Erwin Coumans
7b28e86c7b add improved btGeneric6DofSpring2Constraint, thanks to Puhr Gabor and Tamas Umenhoffer! 
improved the new demo testbed (work-in-progress)
add basic Lua demo, import URDF test, STL import, obj import
 2014-08-20 16:28:16 -07:00
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cac50c1a8e remove a few warnings, fix GLInstancingRenderer::drawLines 2014-07-29 11:08:09 -07:00
Erwin Coumans
08369dbd0a fix uninitialized data in btMultiBodyPoint2Point, thanks to Valgrind 
valgrind --track-origins=yes  --log-file="dump_valgrind.txt" ./App_AllBullet2Demos_codeblocks_x64_debug
 2014-05-16 11:56:43 -07:00
Erwin Coumans
efd3157d1f only compile Bullet 3 if desired (with CMake) 
remove empty namespace
 2014-05-07 10:19:27 -07:00
erwincoumans
0b6d1af1d4 Only enable SSE4 for Visual Studio 2012 or later (_MSC_FULL_VER >= 170050727), it breaks the build for Visual Studio 2010 
Add additional constructor for btMultiBodyJointMotor
 2014-05-01 22:23:37 -07:00
Erwin Coumans
7151865c16 Introduce kF_UseGjkConvexCastRaytest, and make kF_UseSubSimplexConvexCastRaytest the default for btCollisionWorld::rayTest See https://github.com/bulletphysics/bullet3/issues/34 
Add btCollisionObject::setIgnoreCollisionCheck to disable collisions between specific instances, without having a btTypedConstraint. See https://github.com/bulletphysics/bullet3/issues/165

Make btMultiBody and btMultiBodyJointMotor backwards compatible with Bullet 2.82 API (single-DOF API)
 2014-05-01 13:51:56 -07:00
Erwin Coumans
cfb06f9cd3 make GLUT optional in cmake 
fix for btMultiBody to avoid extreme energy gain
 2014-03-17 23:58:03 -07:00
erwin coumans
d485f2b272 btMultiBodyConstraintSolver writes back the applied impulse for contact points 
(added some debugging output for this in the demos, commented-out by default)
 2014-02-24 16:55:54 -08:00
erwincoumans
122ceacb6d move OpenCL initialization for the unit tests in a shared header file, and support some basic command-line arguments 
--cl_device=1 --cl_platform=1 --allow_opencl_cpu
add chaindemo, test for mass ratios
restore sleeping/activation mode in featherstone demo
Use _VARIADIC_MAX=10 to avoid Google Test issues with Visual Studio 2012, thanks to Mobeen for the report
Enable verbose printf for unit tests
 2014-02-11 10:33:00 -08:00
Erwin Coumans
7e4b1c1c8a add MultiDofDemo (Featherstone 3DOF spherical joint) 
minor prettify of BasicDemo,RagdollDemo.
require 'multiDof' argument in btMultiBody.h (not default=false)
 2014-01-10 16:34:39 -08:00
kubas
876293ac95 minor: replaced convenience lambda functions 2014-01-09 01:15:51 +01:00
kubas
aa87e47d2d preparing for stabilization investigation: useRK4 is now a btMultiBody flag (not world's), reenabled global velocities (as a flag-controlled option), made the test application easier to handle for multiple multibodiez and added a max coordinate multibody (created from btMultiBody) 2014-01-09 01:14:48 +01:00
kubas
2cbcd86de9 fixed a btMultiBody ctor bug 2014-01-09 01:13:22 +01:00
kubas
cbf2d915d1 fixed the multibody jitter issue + several friction-related fixes 2014-01-09 01:12:02 +01:00
kubas
736ba01423 minor clean-up 2014-01-09 01:10:45 +01:00
kubas
ef6abf6490 unified btMultiBodyConstrained::fillMultiBodyConstraint..(...) mtds + cleaned some of the earlier dirty changes (6DoF grabbing constraint stuff mainly) 2014-01-09 01:09:44 +01:00
kubas
0ba7d69f86 fixed a jacobian sizing bug (m_jacSizeBoth) 2014-01-09 01:07:53 +01:00
kubas
eb66b22034 dirty commit: starting to unify btMultiBoydConstraint::fillMultiBodyConstraint..(..) 2014-01-09 01:06:58 +01:00
kubas
87a98939eb tighter packing in btMultiBodySolverConstraint 2014-01-09 01:04:39 +01:00
kubas
81447aa7c5 dirty commit: experimenting with the 6DoF grabbing/p2p constraint 2014-01-09 01:03:20 +01:00
kubas
c0530d31ec minor naming chamge 2014-01-09 01:02:11 +01:00
kubas
66fdc1704b RK4 for floating systems too 2014-01-09 01:01:03 +01:00
kubas
c5594a5826 a bit of rk4 clean-up 2014-01-09 00:59:48 +01:00
kubas
4eac9a11f3 made the multiDof-singleDof disctinction a bit cleaner 2014-01-09 00:58:31 +01:00
kubas
e5372f3712 first experiments with RK4 2014-01-09 00:56:46 +01:00
kubas
cb556f9525 dirty changes - stabilization hacks 2014-01-09 00:51:42 +01:00
kubas
96ff69276f multidof4 patch 2014-01-09 00:26:24 +01:00
erwin.coumans
0024c87316 move the m_maxAppliedImpulse into base class, and use it for motor strength/point to point constraint strength 2013-10-22 21:49:52 +00:00
erwin.coumans
f22ceecb82 Fix Featherstone btMultiBodyPoint2Point constraint and picking: don't assume body 0 is the fixed body! 2013-10-22 21:06:47 +00:00
erwin.coumans@gmail.com
a21480c8ca Attempt to fix "Regression in friction and damping behaviour" , see issue 752 
Thanks to Sergej Reich for the report and narrowing down the breaking revision!
 2013-10-22 09:26:08 +00:00
erwin.coumans@gmail.com
d4640227ce add option to disable btMultiBody self-collision (for the entire hierarchy) or to disable parent-child collision for jointed links. 2013-10-08 00:50:40 +00:00
erwin.coumans@gmail.com
34d975143e expose maximum applied impulse for btMultiBody, introduced to reduce/avoid 'exploding' simulations 
use btScalar instead of float, to enable double precision build, fix for Issue 744
 2013-10-06 17:13:08 +00:00
erwin.coumans@gmail.com
488dd44835 Added btMultiBodyPoint2Point, it can be used between btMultiBody vs btMultiBody or btMultiBody vs btRigidBody 
Allow picking of btMultiBody, using a btMultiBodyPoint2Point constraint, with limited strength to avoid adding too much energy to the system (= blowup)
Add btMultiBodyJointMotor, it can be used in combination with joint limit (just add the joint limit after the motor, to avoid jitter)
 2013-10-05 01:46:32 +00:00
erwin.coumans@gmail.com
2fb686b937 change btMultiBody to allow removal/changing of links 
(still not easy to modify the link structure of a btMultiBody -> You have to manually re-link parents, copying links around etc)
 2013-10-03 05:13:41 +00:00
erwin.coumans
75f17509cc Add a virtual createConstraintRows method, to easier experiment with different kinds of btMultiBodyConstraint 2013-10-02 21:38:40 +00:00
erwin.coumans
c2bece5280 Enable btMultiBodyJointLimitConstraint, seems to be working for the prismatic joint 
Fix case sensitive issue, thanks to Martin Felis
Fix crash/bug in btMultiBodyConstraint computation
 2013-10-02 20:14:48 +00:00
erwin.coumans
36cfbd47a6 preparation for joint limit constraint for Featherstone btMultiBody 2013-10-02 06:25:20 +00:00
erwin.coumans
d8b6a02a7a Fix some crashes in FeatherstoneMultiBodyDemo, when using a fixed base 
Create two btMultiBody, one fixed and one free base
Preparation towards btMultiBodyConstraint
 2013-10-02 03:07:52 +00:00
erwin.coumans
f02dd51597 Added a first version of a Featherstone multi body implementation. 
The original version was written by Stephen Thompson.
I replaced Eigen math by Bullet LinearMath, and added a dedicated 6x6 matrix solver. 
Also I integrated support for collisions/contact constraints between btMultiBody and btRigidBody, and de-activation support.
See Demos/FeatherstoneMultiBodyDemo/Win32FeatherstoneMultiBodyDemo.cpp for example usage.
There is currently only support for contact constraints for btMultiBody. 
Next on the list will be adding support for joint limit constraint for btMultiBody. 
The implementation is still experimental/untested, the quality will improve in upcoming Bullet releases.
 2013-10-01 22:50:31 +00:00