f750275cf9
fix _WIN32 build (there is no <err.h>)
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2015-08-06 12:07:08 -07:00
46fae61c69
fixes in shared memory: only allow server to create and initialize shared memory, client will report failure intercept signals to cleanup shared memory in standalone app, thanks to Roland Philippsen.
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2015-08-06 11:59:31 -07:00
dcab0e2b1f
use multibody by default when using FILE/Open URDF (instead of maximal coordinate rigid body+typed constraints)
Erwin Coumans
2015-08-06 00:35:03 -07:00
6d8ad72d68
add Tutorial.cpp files load textured sphere8.obj by default as a test tiny_obj_loader don't crash when mtl is not found fix camera perspectives for some examples
erwin coumans
2015-08-05 19:22:48 -07:00
a5669d2ffd
add a textured sphere8.obj test with obj loader fix shaders, so that shadowed and non-shadowed are matching fix registerGraphicsUnitSphereShape API (level of detail), support textured sphere too add support for textured cube add start for a Tutorial.cpp
erwin coumans
2015-08-05 19:03:27 -07:00
6c71f37da1
fix: btQuaternion.slerp() may result in NaN-quaternions
T4Larson
2015-08-05 21:06:13 +02:00
250068d5eb
re-enable enter key in example browser
Erwin Coumans
2015-08-04 22:03:53 -07:00
b316f30040
improve usability of ExampleBrowser store command-line arguments in bulletDemo.txt save/load of configuration, save demo name instead of index add setBackgroundColor as example (background_color_red) and mouse move/wheel speed config (mouse_wheel_multiplier and mouse_move_multiplier) (saved after changing the demo) default btIDebugDraw colors can be changed b3CommandLineArgs::GetCmdLineArgument returns bool, and b3CommandLineArgs::addArgs added fix copy/paste
erwincoumans
2015-08-04 18:24:30 -07:00
29b251e81b
Use the max motor impulse if the motor is enabled.
Cameron White
2015-08-04 10:54:34 -04:00
26531f3fbc
fix some warnings, disable gimpact by default in world importer, use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now, until we find the issue with some failing test cases in btMultiBody fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable) disable excessive debug printf in URDF2Bullet
Erwin Coumans
2015-07-27 13:28:47 -07:00
05fc203ec1
Separate SharedMemoryStatus from SharedMemoryCommand Added CMD_CMD_SEND_PHYSICS_SIMULATION_PARAMETERS (set gravity as example) and CMD_INIT_POSE, not fully implemented yet.
Erwin Coumans
2015-07-21 21:46:28 -07:00
2de1f29995
add xacro_standalone.py tool, to convert a urdf.xacro to urdf It has no dependencies, except for a python installation
Erwin Coumans
2015-07-21 12:42:46 -07:00
8e163c984d
allow to control of powered joints after loading a URDF file, through shared memory more refactor of shared memory joint control API
Erwin Coumans
2015-07-20 23:35:29 -07:00
7698d5f95c
fix some out-of-date comments in btMultiBody, thanks to Thomas Buschmann disable disactivation for btRigidBody in import urdf demo, increase strength of joint motor for btMultiBody
Erwin Coumans
2015-07-15 17:39:43 -07:00
b563c7c8ce
add additional example using server and client for future simple robot control of simulated robot (load urdf, get state, set desired state, step simulation) Create SharedMemoryCommand and put that into the queue move arrays for Q, Qdot etc into the command
erwin coumans
2015-07-15 15:23:40 -07:00
80f8f940b3
add Time Series example to cmake build file.
erwin coumans
2015-07-15 13:02:20 -07:00
259bcb1989
mix physics client/server into a single example for easier/faster development of shared memory experiment add premake option to choose targetdir for binaries/libraries add simple hinge.urdf file
erwin coumans
2015-07-15 12:57:45 -07:00
a6fa717dac
add very simple (rudimentary) time series graphing example tweak camera near plane distance, less sensitive mouse wheel
Erwin Coumans
2015-07-15 09:07:47 -07:00
48f6484b3d
make OSX/Unix version of PosixSharedMemory work pass on useFixedBase to URDF loader in PhysicsServer
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2015-07-14 16:23:01 -07:00
54a76f6e0c
Refactor of PhysicsClient/PhysicsServer, to separate from the example browser code. (as usual, work-in-progress)
erwin coumans
2015-07-14 15:30:17 -07:00
95eff08c51
fix 'binserver' to 'bin' for premake targetdir
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2015-07-10 22:31:05 -07:00
6c9ce344ea
fix shadowmap crash on some Intel GPUs, see https://github.com/bulletphysics/bullet3/issues/4 remove targetdir from all libraries in premake, so it is much easier to create a separate folder for all binary+lib transmit the serialized btMultiBody data back from server to client, after the server loads a URDF file. This includes base+link+joint names tweak the serialization routines, so it is easier to skip pointers and to serialize directly to a shared memory buffer also tweak the serialization code to allow to process data without 'DNA' schema data (assuming file-DNA = memory DNA)
erwincoumans
2015-07-10 22:20:06 -07:00
f6f76901fd
First draft of btMultiBody serialization, including optional names for base, link and joints (see ImportURDFDemo/ImportURDFSetup.cpp how this is done) Bump up version number to 2.84 because of new serialization data.
erwincoumans
2015-07-09 17:36:00 -07:00
285ac286fa
some work towards streaming Bullet data over shared memory for client/server
erwincoumans
2015-07-09 14:04:58 -07:00
272ffeb232
add example for btMultiBody constraint and joint feedback
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2015-07-07 08:32:02 -07:00
3431773800
expose btMultiBodyConstraint applied impulse (force) on its degree of freedom(s), only tested for btMultiBodyJointMotor for now. See also MultiBody/MultiBodyConstraintFeedback example
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2015-07-06 23:00:46 -07:00
33b0d429ba
apply newForceTorque.diff patch: it will allow to report joint reaction force/torque, while using impulse-based response for btMultiBody
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2015-07-06 16:39:41 -07:00
e7bafbc71c
make Bullet URDF parser more similar to the ROS URDF parser. There is still a difference in ordering of links, due to the use of different hash-map implementations, with a difference in iterator order (btHashMap versus std::hashmap)
erwincoumans
2015-06-29 21:30:44 -07:00
3fbe9f63ef
more case-sensitivity fixes
Erwin Coumans
2015-06-28 22:12:59 -07:00
bc8b95dd9d
remove some warnings
Erwin Coumans
2015-06-26 12:59:48 -07:00
3b4ad1cd5a
add the option to shift the applied force/torque for a multibody joint (mobilizer) to the joint frame origin
erwin coumans
2015-06-25 15:09:35 -07:00
bdab994208
re-enable gravity for import urdf demo (accidently turned it off for debugging)
Erwin Coumans
2015-06-24 23:27:50 -07:00
d830681674
add option for rigid body/typed constraint to set target velocity compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
Erwin Coumans
2015-06-24 23:19:00 -07:00
b14afba350
more work-in-progress on joint-torque sensor sample and server/client shared memory API
erwin coumans
2015-06-22 15:30:57 -07:00
4688540a98
minor update for shared memory interface
Erwin Coumans
2015-06-21 13:24:36 -07:00
6e9eb13235
implement joint reaction forces for mobilizer motor/limit, by passing the constraint forces as 'external forces' and going through the Articulated Body Algorithm minor refactor for forwardKinematics, store the cached world transform in each btMultiBody::link
erwin coumans
2015-06-19 15:51:24 -07:00
Erwin Coumans
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erwin coumans
T4Larson
Cameron White
Andrew Meadows