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c29d445b94fabb1776c78bac9bbeedc1996b35b1
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628 Commits

Author SHA1 Message Date
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
yunfeibai
c26da8440d Add slider constraint. 2016-08-25 11:54:59 -07:00
Will Smith
ba4c389c84 Fixed btKinematicController from clipping through walls in corners. 2016-08-19 18:46:07 -05:00
erwincoumans
c50490a6d9 Merge pull request #742 from sinkingsugar/master 
Fixed btKinematicCharacterController runtime crashes
 2016-08-17 19:54:14 -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
9c4cfde3d6 Fixed constraint for btMultiBody and btRigidBody. 2016-08-15 13:19:00 -07:00
erwincoumans
d605897d13 Merge pull request #719 from erwincoumans/master 
fix ffmpeg stream to create quicktime compatible videos
 2016-07-29 09:07:46 -07:00
erwin coumans
72e329962e fix ffmpeg mp4 generation under Windows as well. 
remove static variables, make them local, to avoid multithreading issues.
 2016-07-28 18:06:03 -07:00
erwincoumans
f38d3c5b69 Merge pull request #720 from MiCroN3000/character_controller_fixes 
Fix kinematic character controller
 2016-07-28 13:23:41 -07:00
MiCroN3000
626a913866 The kinematic character controller with various fixes and a few new features like, being able to set any vector for gravity/up, jumping in a certain direction, possibility to use collision masks, angular & linear velocity, angular & linear damping. 2016-07-28 20:15:38 +02:00
erwin coumans
75e86051c2 Add inverse kinematics example with implementations by Sam Buss. 
Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
 2016-07-24 22:22:42 -07:00
Erwin Coumans
e2bdd7dbb1 fix more memory leaks, ImportURDFExample is now leak-free 
eliminate all run-time memory allocation (except for mouse-pick/ray-intersection) in ImportURDFExample
 2016-07-16 17:40:44 -07:00
erwin coumans
7633cfb800 prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h 
prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)
 2016-07-11 00:26:40 -07:00
Erwin Coumans
178dd54ca5 remove printf's and fix an issue in btMultiJointMotor in previous commit 2016-06-27 16:10:13 -07:00
erwincoumans
a15eb3035e default gains 1 -> 0.1 2016-06-24 11:12:19 -07:00
Erwin Coumans
c17c39c2c9 move PD control from PhysicsServerCommandProcessor into btMultiBodyJointMotor 
improvements/changes in pybullet API
 2016-06-24 11:06:56 -07:00
Erwin Coumans
53a0772257 fix some issues related to controlling a robot/multibody beyond body index 0 
(most testing happened with a single robot/multibody so far)
preliminary pybullet.setJointControl implementation
 2016-06-16 18:46:34 -07:00
Erwin Coumans
149129826a remove unused findex from btTypedConstraint.h 2016-06-13 18:33:18 -07:00
Erwin Coumans
098e0158ea fix compile issue(s) in BT_USE_DOUBLE_PRECISION mode 2016-05-26 18:21:57 -07:00
Erwin Coumans
59b32b7af1 re-enable command log and playback in physics server 
report applied motor torque in physics server
 2016-04-08 18:17:17 -07:00
erwincoumans
fe92de3e50 add infrastructure float btMultiBodyLink m_jointDamping, m_jointFriction (actual damping/friction is in a separate commit) 
add door.urdf for testing damping/friction
 2016-03-17 14:54:46 -07:00
erwin coumans
6c9bfce975 Support btMultiBody soft contact using ERP and CFM. Also support custom relaxation parameter to allow successive over relaxation. 
Added demos for rigid and multi body soft (compliant) contact.
Will also add simplified Hertz compliant contact, by dynamically modifying the ERP/CFM to mimic a non-linear spring.
Note that btManifoldPoint is growing too big, we need to implement proper contact constraints derived from btTypedConstraint.
 2016-02-22 18:40:00 -08:00
erwin coumans
645a88176d Enable softness for btRigidBody contacts. This is implemented by some value (CFM, constraint force mixing) to the main diagonal of A. 
CFM for contacts use world CFM value by default, and can override with custom CFM value using the
BT_CONTACT_FLAG_HAS_CONTACT_CFM stored in m_contactPointFlags.
Boolean m_lateralFrictionInitialized is replaced 'BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED' flag stored in int m_contactPointFlags in btManifoldPoint.
Enable successive over-relaxation parameter (SOR) for contacts. btMLCPSolver uses global CFM.
In one of the next commits, contact softness will be enabled btMultiBody contacts.
Also need to review use of CFM in btMLCPSolvers (only world CFM is used at the moment)
 2016-01-22 17:43:36 -08:00
Erwin Coumans
46ddfa39d7 remove unused function in btRigidBody (btSetCrossMatrixMinus) 
thanks to Stefan for reporting.
 2015-12-08 07:54:19 -08:00
Andrew Meadows
c0c1691c25 fix whitespace formatting in cmake files 2015-12-07 14:08:04 -08:00
Erwin Coumans
5da9e37a05 add BT_DECLARE_ALIGNED_ALLOCATOR() for btTypedConstraint 2015-11-26 12:43:10 -08:00
Erwin Coumans
f6a8079353 sync repo 2015-11-11 12:44:26 -08:00
erwincoumans
3b9b803683 b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API 
Parse and use colors from URDF file (single rgba color per link, not per visual)
Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof'
btHashMap, add const Value* operator[]
remove a few more obsolete btMultiBody methods (on the non-multi-dof path)
fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill)
Add mention to Jakub Stepien for his work on btMultiBody
 2015-11-06 17:11:15 -08:00
erwincoumans
2920d7e61f Only support btMultiBody multi-dof version (remove non-multi-dof path) 
Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
 2015-11-05 21:17:46 -08:00
erwincoumans
cb13054f2e Merge pull request #465 from cameronwhite/conetwist-motor 
Use the max motor impulse for cone twist constraints when the motor is enabled.
 2015-09-10 18:08:19 -07:00
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3d10338ed5 fix warnings (thanks to Aaron!) 2015-09-10 17:52:41 -07:00
Cameron White
86880a2795 Only use the max motor impulse if it is positive (it defaults to -1). 2015-08-27 16:03:02 -04:00
Cameron White
29b251e81b Use the max motor impulse if the motor is enabled. 2015-08-04 10:54:34 -04:00
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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
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
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
Erwin Coumans
7698d5f95c fix some out-of-date comments in btMultiBody, thanks to Thomas Buschmann 
disable disactivation for btRigidBody in import urdf demo, increase strength of joint motor for btMultiBody
 2015-07-15 17:39:43 -07:00
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1b9eedd026 make btMultiBody destructor virtual (public github commit) 2015-07-12 14:56:47 -07:00
erwincoumans
6c9ce344ea fix shadowmap crash on some Intel GPUs, see https://github.com/bulletphysics/bullet3/issues/4 
remove targetdir from all libraries in premake, so it is much easier to create a separate folder for all binary+lib
transmit the serialized btMultiBody data back from server to client, after the server loads a URDF file. This includes base+link+joint names
tweak the serialization routines, so it is easier to skip pointers and to serialize directly to a shared memory buffer
also tweak the serialization code to allow to process data without 'DNA' schema data (assuming file-DNA = memory DNA)
 2015-07-10 22:20:06 -07:00
erwincoumans
f6f76901fd First draft of btMultiBody serialization, including optional names for base, link and joints (see ImportURDFDemo/ImportURDFSetup.cpp how this is done) 
Bump up version number to 2.84 because of new serialization data.
 2015-07-09 17:36:00 -07:00
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3431773800 expose btMultiBodyConstraint applied impulse (force) on its degree of freedom(s), 
only tested for btMultiBodyJointMotor for now.
See also MultiBody/MultiBodyConstraintFeedback example
 2015-07-06 23:00:46 -07:00
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33b0d429ba apply newForceTorque.diff patch: it will allow to report 
joint reaction force/torque, while using impulse-based response
for btMultiBody
 2015-07-06 16:40:09 -07:00
Erwin Coumans
bc8b95dd9d remove some warnings 2015-06-26 12:59:48 -07:00
erwin coumans
3b4ad1cd5a add the option to shift the applied force/torque for a multibody joint (mobilizer) to the joint frame origin 2015-06-25 15:09:35 -07:00
Erwin Coumans
d830681674 add option for rigid body/typed constraint to set target velocity 
compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
 2015-06-24 23:19:00 -07:00
erwin coumans
b14afba350 more work-in-progress on joint-torque sensor sample and server/client shared memory API 2015-06-22 15:30:57 -07:00
erwin coumans
6e9eb13235 implement joint reaction forces for mobilizer motor/limit, by passing the constraint forces as 'external forces' and going through the Articulated Body Algorithm 
minor refactor for forwardKinematics, store the cached world transform in each btMultiBody::link
 2015-06-19 15:51:24 -07:00
erwincoumans
89edc40d61 First step in btMultiBody joint force/torque feedback. There is still some work to be done for 'mobilizer limit/motor'. 
See examples/MultiBody/TestJointTorqueSetup and examples/Constraints/TestHingeTorque for joint feedback.
 2015-06-19 09:18:27 -07:00
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41aa58560b add TestHingeTorque example using btRigidBody and btHingeConstraint, setup is similar to TestJointTorque using btMultiBody and a revolute joint. 2015-06-15 23:12:29 -07:00
Erwin Coumans
02fbcd2a05 reorder initializer 2015-06-11 11:48:43 -07:00