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Author SHA1 Message Date
Erwin Coumans
1d88cf71e4 separate spinning friction (torsional friction around contact normal) from 
rolling friction (orthogonal to contact normal)
 2016-09-16 00:04:33 +01:00
Erwin Coumans
4d6a95017e default contact erp (m_erp2) was too low in physics server 
causing gripper to penetrate box
 2016-09-15 23:11:27 +01:00
Matthew Woehlke
ba3a1dcc98 Fix clew.c link errors 
Add missing link to CMAKE_DL_LIBS to resolve link errors from clew.c
using dlopen and friends but failing to link to libdl.

Fixes #787.
 2016-09-15 12:58:31 -04:00
Matthew Woehlke
ef943bdcf0 Add "missing" virtual dtor 
Make the dtor of b3DynamicBvhBroadphase virtual, to match that the type
has other virtual methods. This silences a -Wvirtual-dtor warning.
 2016-09-15 12:17:23 -04:00
Jamie Snape
9f42cf27ed Fix typo 2016-09-14 17:22:54 -04:00
Jamie Snape
b0ace4509a Enable rpath on OS X when the CMake version supports it 2016-09-14 13:00:51 -04:00
erwincoumans
79d24db60f Merge pull request #784 from erwincoumans/master 
experimental Inverse Kinematics for KUKA iiwa exposed in
 2016-09-14 02:52:09 +01:00
Erwin Coumans
f9679bd594 prevent an issue in TinyRendererSetup example 2016-09-14 00:30:58 +01:00
Erwin Coumans
5e09b17baf experimental Inverse Kinematics for KUKA iiwa exposed in 
shared memory api and pybullet. Will be extended for arbitrary bodies
and with target orientation (besides target position)
 2016-09-13 23:37:46 +01:00
Jeffrey Bingham
26a464bf0b [URDF] Edit loader to handle full inertia tensor. 
Previous URDF loader did not handle off-diagonal elements
in the URDF. This commit adds functionality to allow
the loading of an inertia matrix that has not already
been reduced to its principal components. It diagonalizes
the inertia matrix, tests that the values are real and
updates the inertial frame.
 2016-09-13 08:42:33 -07:00
erwincoumans
e5a8eb2425 rolling friction -> combine using rolling*normal friction, add for both objects. 
rolling friction -> only along the normal, until we have separate rolling friction coefficients on normal and non-normal directions
Don't teleport with grasping controller (VR)
Tune VR grasping a bit.
 2016-09-12 19:10:20 +01:00
erwincoumans
af7c44d360 Merge pull request #775 from YunfeiBai/master 
Compute IK with Bullet body Jacobian
 2016-09-12 12:45:05 +01:00
yunfeibai
ae2d256f57 Merge remote-tracking branch 'upstream/master' 2016-09-11 04:17:05 -07:00
yunfeibai
c952c50ad9 Merge remote-tracking branch 'upstream/master' 2016-09-11 04:11:51 -07:00
erwincoumans
81749e7065 Merge pull request #780 from erwincoumans/master 
pybullet: add option to use NumPy to speed up, thanks to moof2k
 2016-09-11 12:03:20 +01:00
Erwin Coumans
7df9b69039 pybullet: add option to use NumPy to speed up, thanks to moof2k 
option is disabled by default. When using cmake, use
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON
then both testrender.py and testrender_np.py will work
without numpy only testrender.py works.
The numpy.reshape is likely a no-op when using numpy array,
so we could remove testrender_np.py...

See https://github.com/bulletphysics/bullet3/pull/774
 2016-09-11 11:35:12 +01:00
Erwin Coumans
5c76b01659 allow pybullet with or without NumPy 2016-09-11 11:09:51 +01:00
Erwin Coumans
c75bbd4608 allow pybullet with or without numpy using PYBULLET_USE_NUMPY define (in build system) 2016-09-11 11:09:10 +01:00
Erwin Coumans
ec46934e22 Merge remote-tracking branch 'bp/master' 2016-09-11 10:56:55 +01:00
erwincoumans
18ef164e7c revert numpy test/travis.yml 2016-09-11 10:47:00 +01:00
erwincoumans
c093c04be0 Update .travis.yml 2016-09-11 10:37:23 +01:00
erwincoumans
6a9d2d6084 Update appveyor.yml 2016-09-11 10:10:25 +01:00
erwincoumans
055ea49eff numpy update test travis.yml 2016-09-11 08:57:05 +01:00
Erwin Coumans
e921f1b9b7 remove duplicate definitions of SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE 2016-09-11 08:40:58 +01:00
erwincoumans
5abe6d7e38 Merge pull request #777 from erwincoumans/master 
init ERP for second btMultiBodyJointMotor,
 2016-09-11 07:09:32 +01:00
Erwin Coumans
82661d98cd init ERP for second btMultiBodyJointMotor, 
comment-out debug printf in Kuka IK example
 2016-09-11 05:54:47 +01:00
yunfeibai
a00841a498 Compute delta S from Bullet link state. 2016-09-10 19:18:29 -07:00
yunfeibai
1b72b91bcf Expose link state in RobotSimAPI. 2016-09-10 18:48:57 -07:00
erwincoumans
30bd1d7362 Merge pull request #773 from erwincoumans/master 
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
 2016-09-09 15:22:12 -07:00
erwin coumans
c5d775a635 disable real-time by default 2016-09-09 14:41:23 -07:00
erwin coumans
3c706306cd add experimental pr2-gripper support in VR physics server 
add setErp to btMultiBodyJointMotor
 2016-09-09 14:30:37 -07:00
erwin coumans
f72982306e fix issues with VR physics server 2016-09-09 11:28:38 -07:00
Erwin Coumans
016dc273c6 fix an SSE/SIMD 16-byte alignment issue 2016-09-09 09:01:04 -07:00
Erwin Coumans
3e23c793ad Merge remote-tracking branch 'bp/master' 2016-09-09 08:24:50 -07:00
erwin coumans
4ab02a07e5 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-08 15:22:41 -07:00
erwin coumans
32eccdff61 Create project file for BussIK inverse kinematics library (premake, cmake) 
URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)
 2016-09-08 15:15:58 -07:00
erwincoumans
00babd507f Merge pull request #772 from erwincoumans/master 
merge pybullet, make husky wheels soft/compliant as a test.
 2016-09-08 12:41:06 -07:00
Erwin Coumans
e0127bdb54 merge pybullet.c after conflicts due to Jeff's formatting pull request. 2016-09-08 11:12:58 -07:00
Erwin Coumans
8ba9a04dd9 Merge remote-tracking branch 'bp/master' 2016-09-08 07:39:48 -07:00
yunfeibai
c94a8e0d35 Use body Jacobian from Bullet for IK. 2016-09-07 23:14:23 -07:00
yunfeibai
f635c64205 Expose Jacobian computation to RobotSimAPI. 2016-09-07 17:37:38 -07:00
erwincoumans
f4ac577baf Merge pull request #771 from bingjeff/master 
pybullet tweaks for double precision
 2016-09-07 17:36:01 -07:00
erwincoumans
ba2f522e05 Update BulletUrdfImporter.cpp 
use free (and not delete), since b3ImportMeshUtility/stbi_load uses malloc (and not new)
 2016-09-07 16:02:16 -07:00
yunfeibai
c198029cb9 Expose body Jacobian in shared memory API. 2016-09-07 16:00:38 -07:00
Jeffrey Bingham
f7ed0d7703 [format] Convert pybullet.c to consistent style. 2016-09-06 23:43:57 -07:00
Jeffrey Bingham
edef18e161 [python] Convert physics calls to double precision. 
In order to feed Bullet the correct values when
compiled with double precision the pybullet interface
needs to pass double precision values.
 2016-09-06 23:31:41 -07:00
erwincoumans
4944aca28b Update our_gl.cpp 2016-09-06 13:26:08 -07:00
erwincoumans
d5ec5ca9a0 Update IDConfig.hpp 2016-09-06 13:07:06 -07:00
erwincoumans
630fcda38b fix compile issue pybullet on MSVC 2010 2016-09-03 09:53:21 -07:00
erwin coumans
de5d1b5cfc make husky wheels soft/compliant 
reduce shadow size to make VR on older GPU (Mac Pro 2013) perform more smooth
less sleep in physics thread.
 2016-09-03 08:39:40 -07:00