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2143 Commits

Author SHA1 Message Date
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
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
hujiajie
8c573177eb [Working In Progress] Suppress compiler warnings. 
Suppress several warnings about unused variables.
 2016-07-10 23:18:03 +08:00
erwin coumans
02582e3a78 shrink down cube size of BasicDemo 10 times (it looked ginormous in VR) from 2x2x2 meter to 0.2 
add test for VR HUD/sub-titles
fix issue in previous commit, partial string use %.8s not %8.s
use long long int in b3Clock
fix warning/error in pointer alignment in serialization
Fix pybullet Windows compilation.
(thanks to bkeys/https://github.com/bulletphysics/bullet3/pull/687)
 2016-07-09 15:09:09 -07:00
Erwin Coumans
471d3652e4 (finally) applied patch to fix 'setLocalScaling' of btMultiSphereShape 
See https://code.google.com/archive/p/bullet/issues/636
http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=8237 and
https://github.com/bulletphysics/bullet3/issues/125
 2016-07-02 10:07:13 -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
Giorgos Tzampanakis
4f4eb3a9c6 Fixed: Error because of unparameterized btVectorX 2016-06-14 13:40:38 +00:00
Erwin Coumans
149129826a remove unused findex from btTypedConstraint.h 2016-06-13 18:33:18 -07:00
erwincoumans
a5fa8712ec Merge pull request #385 from lordloki/btCone 
New btConeshape member functions setHeight and setRadius
 2016-06-09 08:58:25 -07:00
Erwin Coumans
612e46614a fix (unused) SSE operator btMatrix3x3 ==, thanks to yyzone for the report/fix. 
fixes 552
 2016-06-04 13:16:06 -07:00
erwin coumans
f469a2cb49 update to tinyrenderer synthetic camera 2016-05-31 22:55:13 -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
c6bf3a7261 revert sat contact kernels update 2016-05-25 17:14:30 -07:00
Erwin Coumans
535ee33e3b fix build3/stringify.sh 
fix some compile issues
 2016-05-25 15:37:28 -07:00
artoowang
cfcb8eda9b Fixed btAssert warning message on printf in MSVC. 2016-05-17 14:10:22 -07:00
Erwin Coumans
372c4ef9c1 Add btConvexHullShape::optimizeConvexHull method, 
it automatically removes vertices that are not on the convex hull.
It uses the btConvexHullComputer for this.
 2016-05-04 13:01:06 -07:00
erwincoumans
5351b20f9d Merge pull request #609 from AndrewMeadows/ccd-fix-4 
optimize CCD against btCompoundShapes with dynamicAabbTree
 2016-04-30 11:22:36 -07:00
Andrew Meadows
8d970e5c04 minor cleanup 2016-04-27 13:41:42 -07:00
Ryan Huffman
76d39d4439 Fix build error on OSX + Linux 2016-04-27 12:10:28 -07:00
Ryan Huffman
7f0877339e Replace spaces with tabs 2016-04-27 12:10:28 -07:00
Ryan Huffman
b135699325 Fix errors in ccd against compound objects 2016-04-27 12:10:28 -07:00
Ryan Huffman
25ee137390 Fix missing colObjWrap 2016-04-27 12:10:28 -07:00
Ryan Huffman
af442778a6 Add early rejection tests during CCD against compound objects 2016-04-27 12:10:28 -07:00
erwincoumans
920af5e127 Merge pull request #591 from erwincoumans/master 
re-enable command log and playback in physics server, report applied motor torque
 2016-04-08 18:29:01 -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
df3ddaca5e Merge pull request #585 from erwincoumans/master 
btMultiBody joint friction/damping infrastructure
 2016-03-17 16:29:40 -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
erwincoumans
857a4e98e8 Merge pull request #584 from erwincoumans/master 
turn test/SharedMemory/test.c into a gtest for CI unit testing in github
 2016-03-15 23:15:18 -07:00
Erwin Coumans
aa3daaa8c6 turn test/SharedMemory/test.c into a gtest for CI unit testing in github 
remove overly verbose printfs in importers
fix axis in r2d2.urdf
 2016-03-15 22:47:53 -07:00
erwincoumans
2ef8669e75 Merge pull request #581 from erwincoumans/master 
Use higher precision GJK/EPA collision tolerances in double precision mode. Fix Lua example
 2016-03-12 08:58:16 -08:00
Erwin Coumans
87e5128ba8 fix some typos (need to merge into a single implementation later!) 2016-03-11 17:47:00 -08:00
Erwin Coumans
625ea96a3e accidently moved line in wrong place 2016-03-10 23:28:02 -08:00
Erwin Coumans
ea6ecd3579 Use higher precision GJK/EPA collision tolerances in BT_USE_DOUBLE_PRECISION 
See https://raw.githubusercontent.com/billhoffman/bullet-pod/ac6aae3e3ee8137de484471094a65bfe166898b4/bullet_gjk_accuracy_patch.diff
 2016-03-10 23:12:22 -08:00
hujiajie
3ed7ecbb58 Fix ternary selection operator on float scalars in OpenCL kernels. 
According to Section 6.3(i) of the OpenCL 1.1 specification, the first
expression of the operator cannot be a float.
 2016-03-11 09:40:40 +08:00
hujiajie
ad6fb3afc1 The 'static' storage-class specifier is not supported in OpenCL. 
This is documented in Section 6.8 (g) in OpenCL 1.1 specification.
 2016-03-08 08:49:28 +08:00
Michael Korn
e80bafdf66 fix for issue in getAngleShortestPath() 
Testing squared norm for <0 does not make any sense. In Addition giving the range of the return values is a great help to understand the descriptions.
 2016-03-04 22:01:29 +01:00
Erwin Coumans
4a70df2dfb fix some warnings 2016-02-29 15:37:03 -08:00
Erwin Coumans
25409f93c7 re-quantize for before using the data in quantize method 
this fixes issue 558
 2016-02-23 08:46:09 -08:00
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
erwincoumans
83c560262b Merge pull request #548 from AndrewMeadows/fix-cmake-whitespace 
fix whitespace formatting in cmake files
 2015-12-07 15:06:59 -08:00
Andrew Meadows
c0c1691c25 fix whitespace formatting in cmake files 2015-12-07 14:08:04 -08:00
Andrew Meadows
a860fff3ad fix cmake to succeed with -DBUILD_BULLET3=0 2015-12-07 13:43:17 -08:00
Erwin Coumans
5da9e37a05 add BT_DECLARE_ALIGNED_ALLOCATOR() for btTypedConstraint 2015-11-26 12:43:10 -08:00
erwincoumans
0e247264ff use BT_ID_MAX as std::max is not portable (older Visual Studio versions break) 2015-11-24 17:34:43 -08:00
Erwin Coumans
1f4148d322 fix shared lib build 2015-11-24 12:05:50 -08:00