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1804 Commits

Author SHA1 Message Date
Erwin Coumans
f304fd7611 add one more pybullet renderImage API and testrender.py example 
tweak Bullet Inverse Dynamics, work-around compiler issue
 2016-08-02 11:12:23 -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
25a1714754 disable CProfileManager, might reduce some multi-threading conflicts 2016-07-19 15:55:52 -07:00
erwin coumans
c28cd03fbd OpenVR controller can pick/drag objects. Instructions, Windows only: 
Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)

Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.
 2016-07-17 23:50:11 -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
Erwin Coumans
f9096c2e30 typo/case sensitivity BroadphaseCollision vs NarrowPhaseCollision, aargh 2016-07-16 21:47:07 -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
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
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