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Author SHA1 Message Date
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 4c9b009d5b Merge pull request #770 from erwincoumans/master 
export contact friction/damping through URDF and API
 2016-09-02 18:18:21 -07:00
erwincoumans 21c60c66ec Merge pull request #767 from ludi1001/urdf-joint-transforms 
Fix joint orientations when loading URDF files.
 2016-09-02 08:21:02 -07:00
erwincoumans 23f7293a25 Merge pull request #768 from erwincoumans/master 
implement pybullet.getContactPointData(), two optional object unique …
 2016-09-01 22:31:06 -07:00
Erwin Coumans 842863c04f add commented-out line in build_visual_studio.bat to show how to build pybullet on Windows 2016-09-01 21:37:52 -07:00
Erwin Coumans fe54f146ad Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-01 21:26:38 -07:00
erwincoumans a370c3bbac Merge pull request #765 from YunfeiBai/master 
Torsional and rolling friction for btMultiBody
 2016-09-01 14:57:46 -07:00
erwincoumans 03f09042e2 Merge pull request #766 from erwincoumans/master 
[SharedMemory] Calculate inverse dynamics now uses world gravity.
 2016-09-01 14:37:50 -07:00
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
erwincoumans 7790ee2f02 fix compile issue with pybullet.c on Visual Studio 2016-08-31 16:05:42 -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
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
Erwin Coumans e47c74ce0b prevent crash when using --opengl2 option in ExampleBrowser. 2016-08-29 11:48:31 -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
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
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 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
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
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
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
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
erwincoumans aee6b35382 Merge pull request #746 from erwincoumans/master 
bugfix: in torque control mode, torque index starts at 6.
 2016-08-18 16:11:46 -07:00
erwincoumans 2a3020d975 Merge pull request #745 from erwincoumans/master 
Remove undesired assert, it makes pybullet mistakes fail in c++
 2016-08-18 13:22:45 -07:00
erwincoumans d6547f6ee4 Merge pull request #744 from erwincoumans/master 
Fix some inconsistencies in URDF file handling between btRigidBody an…
 2016-08-18 10:10:52 -07:00
erwincoumans 8a780fa0a4 Merge pull request #743 from erwincoumans/master 
tweak in BEB F1/screenshot handling, 	by default, have a strong force keep the robot together
 2016-08-17 20:13:48 -07:00
Erwin Coumans 8f21e2bca9 fix compile issue 2016-08-17 20:01:45 -07:00
erwincoumans c50490a6d9 Merge pull request #742 from sinkingsugar/master 
Fixed btKinematicCharacterController runtime crashes
 2016-08-17 19:54:14 -07:00
Erwin Coumans 17c16ccfa0 pybullet, deal with overflow of joints (maximum of 128 joints/links per multibody at the moment) 
increase from 64 to 128 joints in shared memory API/pybullet
fix potential issue in tinyrenderer, related to missing segmentation mask buffer
report error if CMD_REQUEST_ACTUAL_STATE command on a multibody that exceed the number of links,
todo: stream data to allow arbitrary large number of links in shared memory API
 2016-08-17 19:35:52 -07:00
erwincoumans 0aef7afbbd Merge pull request #739 from YunfeiBai/master 
Fixed constraint for btMultiBody and btRigidBody.
 2016-08-17 09:53:20 -07:00
erwincoumans e982b2b5dd Merge pull request #738 from erwincoumans/master 
Add sleep to avoid 100% busy CPU loop in PhysicsServerExample
 2016-08-13 18:13:08 -07:00
erwincoumans 818af33dab Merge pull request #736 from erwincoumans/master 
revert accidently renaming of m_depthvalues4
 2016-08-12 14:43:21 -07:00
erwincoumans fec13f2d0a Merge pull request #735 from erwincoumans/master 
set the camera, even in multi-threaded mode
 2016-08-11 17:37:02 -07:00
erwincoumans 27d3055638 Merge pull request #731 from erwincoumans/master 
add pybullet render API with yaw/pitch/roll option, add pybullet testrender.py example
 2016-08-09 19:24:11 -07:00
erwincoumans 8a0a61b7b3 Merge pull request #727 from erwincoumans/master 
add one more pybullet renderImage API, add workaround for gcc vec/btVectorX BulletInverseDynamics issue
 2016-08-04 10:29:12 -07:00
erwincoumans 7d76183e13 Merge pull request #726 from erwincoumans/master 
fix CMD_INIT_POSE+INIT_POSE_HAS_INITIAL_ORIENTATION
 2016-08-02 09:54:48 -07:00
erwincoumans d69d569ae8 Merge pull request #725 from erwincoumans/master 
fix overflow visual shape in COLLADA .dae importer, trailing space in .mtl names.
 2016-08-02 00:17:41 -07:00
erwincoumans 0c0b4be665 Merge pull request #722 from matpalm/fixSetIdentity 
fix setidentity bug
 2016-07-29 14:50:16 -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
erwincoumans bfca157dd8 Merge pull request #721 from matpalm/charsafterendif 
fix warning: extra tokens at end of #endif directive
 2016-07-28 17:17:03 -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
Erwin Coumans daf91de778 fix ffmpeg stream to create quicktime compatible videos 2016-07-27 09:11:08 -07:00
erwincoumans 9451923dbd Merge pull request #717 from matpalm/pyJointMotorControlArgs 
update pybullet_setJointMotorControl with seperate args for targetPosition, targetVelocity, kp and kd
 2016-07-26 16:18:28 -07:00
erwincoumans 745743ac53 Merge pull request #718 from erwincoumans/master 
fix screen width/height issue on Intel/Linux
 2016-07-26 16:17:48 -07:00
erwincoumans a6e5c6a273 Merge pull request #716 from erwincoumans/master 
Add robotics learning add GripperGraspExample
 2016-07-25 16:01:15 -07:00
erwincoumans 299243d49b Merge pull request #715 from erwincoumans/master 
Add inverse kinematics example with implementations by Sam Buss.
 2016-07-25 00:02:50 -07:00
erwincoumans a285a72c62 Merge pull request #704 from hujiajie/w4373 
[WIP] Suppress compiler warnings.
 2016-07-21 17:03:28 -07:00
erwincoumans e55628c7ac Merge pull request #708 from matpalm/paramNameFix 
GetJointInfo used linkIndex param, switched to jointIndex for naming consistency
 2016-07-21 17:02:55 -07:00
erwincoumans d26ef6cee1 Merge pull request #709 from erwincoumans/master 
fix one more multi-threading issue
 2016-07-21 17:02:13 -07:00
erwincoumans e88de13cc6 fix Parse joint dynamics in SDF 2016-07-20 15:41:58 -07:00
erwincoumans 2278385802 Merge pull request #707 from matpalm/loadErrorMsgTypo 
fix error msg when loading sdfs
 2016-07-20 10:50:31 -07:00
erwincoumans 628d029e30 Merge pull request #706 from erwincoumans/master 
Improve OpenVR support, fix some multi-threading issue (disable CProfileManager singleton), fix/remove old API
 2016-07-20 10:31:11 -07:00
erwincoumans 73ac7c89c6 Merge pull request #703 from erwincoumans/master 
OpenVR controller can pick/drag objects
 2016-07-18 11:46:53 -07:00
Erwin Coumans 5cb97baba0 add husky, quadcopter and plane 100x100 meter urdf files, 
to prepare for a bit of robotics, machine learning and VR fun
 2016-07-16 23:14:16 -07:00
Erwin Coumans fcc9d4ebcb fix SIMD/16-byte alignment issue causing issue in one of the old benchmarks 2016-07-16 22:33:15 -07:00
erwincoumans 260e5d2b3d Merge pull request #701 from erwincoumans/master 
Remove many memory leaks/technical debt in example code.
 2016-07-16 22:01:19 -07:00
Erwin Coumans f9096c2e30 typo/case sensitivity BroadphaseCollision vs NarrowPhaseCollision, aargh 2016-07-16 21:47:07 -07:00
Erwin Coumans 8c69bfb042 fix: accidently enable memory-leak debug test 2016-07-16 21:36:40 -07:00
Erwin Coumans c54a61b97a More example code is memory-leak free now, in particular PhysicsServerExample. 
/PhysicsServerCommandProcessor
also fixed some memory issue in InverseDynamicsExample (the base class is supposed to delete collision shape memory)
 2016-07-16 21:29:31 -07:00
Erwin Coumans 589fa376b3 only add compound child shapes to 'allocated' list once 2016-07-16 17:58:06 -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 2caa2b7ff4 removed more memory leaks and improve btAlignedAllocator memory-leak debugging 2016-07-16 14:58:11 -07:00
Erwin Coumans bbefc6b108 fix an issue in previous commit 2016-07-16 01:11:53 -07:00
erwincoumans 4cbc741f66 Merge pull request #693 from hujiajie/master 
[WIP] Suppress compiler warnings.
 2016-07-14 10:52:59 -07:00
erwincoumans 93e98ddbd0 Merge pull request #698 from matpalm/linkIdFix 
pybullet_applyExternalForce linkId bug
 2016-07-14 10:51:49 -07:00
erwincoumans 824c721710 Merge pull request #699 from erwincoumans/master 
Add kiva_shelf to prepare for picking/grasping task
 2016-07-14 10:51:34 -07:00
erwincoumans 31e7f2e309 Merge pull request #697 from matpalm/addFovToRenderImage 
pybullet renderimage with projection matrix calculated using field of view
 2016-07-13 18:46:42 -07:00
erwincoumans 6c856d9fa3 Merge pull request #694 from matpalm/flipDepthImage 
fix for vertically flipped depth buffer in TinyRenderer::render
 2016-07-13 15:56:33 -07:00
erwincoumans 513ba9d035 Merge pull request #696 from erwincoumans/master 
add option to use hardware OpenGL renderer for synthetic camera
 2016-07-13 15:56:05 -07:00
erwincoumans 787cb0cb17 Merge pull request #648 from benelot/master 
Create Inclined Plane, Newton's Cradle and Multi-Pendulum examples for the Bullet Example Browser
 2016-07-11 22:17:31 -07:00
erwincoumans 5249ca7ceb Merge pull request #690 from hujiajie/master 
[WIP] Suppress compiler warnings.
 2016-07-11 18:13:58 -07:00
erwincoumans e2e750efb2 Merge pull request #689 from erwincoumans/master 
prepare robotics learning examples, see examples/RoboticsLearning/b3R…
 2016-07-11 10:38:38 -07:00
erwincoumans 9a99d18ca6 Merge pull request #688 from hujiajie/master 
Suppress compiler warnings
 2016-07-11 00:17:38 -07:00
erwincoumans 81ae53e3a4 Merge pull request #683 from erwincoumans/master 
VR support in PhysicsServerExample, physics runs in its own thread.
 2016-07-09 15:24:40 -07:00
erwincoumans 647774f8e4 Merge pull request #685 from ComradeKeys/master 
There was a typo I came across when cross compiling
 2016-07-08 17:23:41 -07:00
erwincoumans e918e5a44e Merge pull request #682 from hellojas/renderImagefix 
fix minor issues
 2016-07-07 14:47:01 -07:00
erwincoumans 9d629bdcd7 Merge pull request #672 from hellojas/renderImage 
Render image with camera_pos, target_pos, camera_up vector as arguments
 2016-07-07 12:42:41 -07:00
erwincoumans 0cba24b637 Merge pull request #680 from erwincoumans/master 
Add preliminary support for VR/OpenVR for HTC Vive and Oculus Rift,
 2016-07-02 11:07:43 -07:00
erwincoumans 67cfaa45fa Merge pull request #679 from jbohren/patch-1 
pkg-config: Fixing regression introduced by e46b7b2
 2016-07-02 10:03:20 -07:00
erwincoumans eae90eb201 Merge pull request #675 from erwincoumans/master 
remove debug printf's, fix an issue introduced in a previous commit to btMultiJointMotor etc.
 2016-06-27 16:22:59 -07:00
erwincoumans ed9be25570 Merge pull request #669 from hellojas/loadURDF 
fix loading urdf at default position (0,0,0)
 2016-06-26 19:12:20 -07:00
erwincoumans cf1a4b02a1 Merge pull request #673 from erwincoumans/master 
implement a few more pybullet methods:
 2016-06-26 19:09:54 -07:00
erwincoumans 84f6d60ab3 Merge pull request #671 from erwincoumans/master 
move PD control from PhysicsServerCommandProcessor into btMultiBodyJointConstraint
 2016-06-24 13:59:54 -07:00
erwincoumans a15eb3035e default gains 1 -> 0.1 2016-06-24 11:12:19 -07:00
erwincoumans 86150e2c71 Merge pull request #667 from erwincoumans/master 
add one more test, related to b3CreatePoseCommandInit
 2016-06-24 07:55:06 -07:00
Erwin Coumans 8b96e2de3c a few pybullet tweaks to set desired joint motor targets (pos/vel/torque) 2016-06-22 23:21:47 -07:00
Erwin Coumans df0b2a2e3a Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-06-22 10:01:26 -07:00
Erwin Coumans 79fa4ebd7c Merge remote-tracking branch 'bp/master' 2016-06-22 10:01:22 -07:00
Erwin Coumans 2b8bd58e1c support single-scalar scale values in URDF, even though "officially" it should be a vector3. This will load quadcopter.urdf in Drake: 
https://github.com/RobotLocomotion/drake/blob/master/drake/examples/Quadrotor/quadrotor.urdf
 2016-06-22 09:59:25 -07:00
erwincoumans 0b249361c2 fix a c99 issue in pybullet 2016-06-21 09:01:27 -07:00
erwincoumans 08b88c445a more travis/python testing fun 2016-06-21 08:51:43 -07:00
erwincoumans 07ee9673ef try to get python dependency in travis (pybullet) 2016-06-21 08:43:04 -07:00
erwincoumans 51da386345 also compile pybullet in one of the tests 2016-06-20 15:05:14 -07:00
erwincoumans 01cad7c2a5 fix return type in pybullet 
.
 2016-06-20 15:00:35 -07:00