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Author SHA1 Message Date
erwin coumans
db3122233f remove that odd triangle in the origin of samurai castle (VR) 
add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance
 2016-09-19 07:02:43 -07:00
erwincoumans
48d42c7c6e Merge pull request #792 from erwincoumans/master 
delete -> free due to the use of stb_image.h (which uses malloc)
 2016-09-17 00:38:32 +01:00
Erwin Coumans
8355f09b21 delete -> free due to the use of stb_image.h (which uses malloc) 2016-09-16 16:25:13 -07:00
erwincoumans
dd791e2222 Merge pull request #791 from erwincoumans/master 
default contact erp (m_erp2) was too low in physics server
 2016-09-16 09:19:35 +01:00
Erwin Coumans
567b003654 separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction 
improvements in VR demo, add grasper etc.
 2016-09-16 00:57:00 +01:00
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
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
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