b22e968cdd
re-enable inverse dynamics/computed torque, instead of PD control in InverseDynamicsExample
Erwin Coumans
2015-12-02 23:16:41 -08:00
332017ff23
remove dependency on gflags, C++11 from test_invdyn_bullet.cpp add support for premake for test_invdyn_bullet
Erwin Coumans
2015-12-02 17:49:25 -08:00
0e247264ff
use BT_ID_MAX as std::max is not portable (older Visual Studio versions break)
erwincoumans
2015-11-24 17:34:43 -08:00
ff74884f9f
more appveyor fun
erwincoumans
2015-11-24 17:15:35 -08:00
d8ee7e4dbc
attempt to fix appveyor.yml (both build project for premake4 and build_script for cmake, does that work?
erwincoumans
2015-11-24 17:13:58 -08:00
1826f11fbc
add pthread dependency for gtest-based tests for non-Windows platforms
erwincoumans
2015-11-24 16:54:04 -08:00
e387baf213
add collision and inverse dynamics unit tests to cmake, .travis.yml and appveyor.yml (more unit tests will follow, once this setup works)
erwincoumans
2015-11-24 16:13:21 -08:00
03cc4f0554
add InverseDynamics example for example browser add CMake support for BulletInverseDynamics and BulletInverseDynamicsUtils
Erwin Coumans
2015-11-24 11:12:02 -08:00
03bf78ef49
add physics server loopback (both client and server in the same process, using shared memory) add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
erwincoumans
2015-11-22 20:50:32 -08:00
7651d89b98
fix InverseDynamics/test_invdyn_kinematics.cpp for single/double precision builds use dill_creator for tree structure (not coil_creator)
erwincoumans
2015-11-19 14:33:14 -08:00
75d657ec85
change 4 spaces to tab for src/BulletInverseDynamics fix unit test in single precision compilation (use delta t of 0.01 if BT_ID_USE_DOUBLE_PRECISION is not defined)
erwincoumans
2015-11-19 12:08:04 -08:00
069936218a
[InverseDynamics] Add custom namespaces per configuration BulletInverseDynamics can be configured to compile using Eigen instead of Bullet's LinearMath.
Erwin Coumans
2015-11-18 08:01:32 -08:00
de763a26e7
fix portability of BulletInverseDynamics (usual issues: std::pow, M_PI, std::vector->idArray<T>::type, snprintf, pass vec3 and mat33 by const reference, not by value)
erwincoumans
2015-11-17 21:51:02 -08:00
aa4d119f98
add real-time safe Inverse Dynamics library+test+utils an example for the example browser will follow. thanks to Thomas Buschmann
Erwin Coumans
2015-11-17 08:27:38 -08:00
ad29d27700
add initial inverse dynamics example skeleton, with urdf and programmatically created btMultiBody. disabled in Bullet/examples/ExampleBrowser/ExampleEntries.cpp
erwincoumans
2015-11-13 10:37:43 -08:00
08eb947bac
Format fix.
d3x0r
2015-11-08 10:24:16 -08:00
99acea9594
btVoronoiSimplexSolver::inSimplex can return when first 'found=true' is set instead of going through all points, since found is never set to false in any other condition.
d3x0r
2015-11-08 10:22:02 -08:00
3b9b803683
b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API Parse and use colors from URDF file (single rgba color per link, not per visual) Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof' btHashMap, add const Value* operator[] remove a few more obsolete btMultiBody methods (on the non-multi-dof path) fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill) Add mention to Jakub Stepien for his work on btMultiBody
erwincoumans
2015-11-06 17:11:15 -08:00
2920d7e61f
Only support btMultiBody multi-dof version (remove non-multi-dof path) Use ATTRIBUTE_ALIGNED16 for btMultiBody Always disable parentCollision for btMultiBody::setupFixed
erwincoumans
2015-11-05 21:17:46 -08:00
d6464ce40d
add 'replay' command log feature: no mouse interaction during replay, and use a fixed number of sim steps in stepSimulation. workaround for reversed separating normal in gjk/epa when using very small shapes, detect case and revert normal. use smaller world size (10 units versus 100) for higher resolution shadow map use a hard-coded rolling friction of 0.2 for objects in physics server (will make this configurable) fix loading of command log files, when platform features are different (64bit/32bit)
erwincoumans
2015-11-01 12:48:15 -08:00
2d5d89d999
Allow to request the state of a rigid body (position, orientation, lin/ang velocity) through shared memory API PhysicsClientC_API: b3RequestActualStateCommandInit requires a body unique Id as second argument
erwin coumans
2015-10-27 15:46:13 -07:00
erwincoumans
Erwin Coumans
Andrew Meadows
Markus Schabel
Takuya Nakaoka
d3x0r