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1739 Commits
Author SHA1 Message Date
erwincoumans 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)
 2015-11-19 12:08:04 -08:00
Erwin Coumans 069936218a [InverseDynamics] Add custom namespaces per configuration 
BulletInverseDynamics can be configured to compile using Eigen
instead of Bullet's LinearMath.

Adds a preprocessor defined specific namespace for each
configuration to produce linker errors if incompatible
libraries are linked (eg, builtin core library and
utilities for bullet types).
 2015-11-18 08:01:32 -08:00
erwincoumans 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) 2015-11-17 21:51:02 -08:00
Erwin Coumans aa4d119f98 add real-time safe Inverse Dynamics library+test+utils 
an example for the example browser will follow.
thanks to Thomas Buschmann
 2015-11-17 08:27:38 -08:00
Erwin Coumans f6a8079353 sync repo 2015-11-11 12:44:26 -08:00
Erwin Coumans 91204e8ed2 avoid naming conflicts Bullet3/Bullet3 2015-11-08 19:31:03 -08:00
Erwin Coumans 72b68409da clang gets confused/crashes when using the same namespace, 
need to look if it is a real error or clang issue
should fix Issue 520
https://github.com/bulletphysics/bullet3/issues/520
 2015-11-08 13:49:37 -08:00
erwincoumans 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
 2015-11-06 17:11:15 -08:00
erwincoumans 2920d7e61f Only support btMultiBody multi-dof version (remove non-multi-dof path) 
Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
 2015-11-05 21:17:46 -08:00
erwincoumans 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)
 2015-11-01 12:48:15 -08:00
erwin coumans dc81e31e74 upload work-in-progress Collision example using C-API. 2015-10-28 11:48:36 -07:00
erwin coumans 5a21424662 update to examples/Collision and RealTimeBullet3Collision 2015-10-18 23:43:37 -07:00
erwin coumans 7ac497d6f2 WIP example for real-time collision detection features of Bullet 2015-10-18 14:01:25 -07:00
= 4df58c35c7 use const in PhysicsClientC_Api, thanks to Roland 
fix some warnings for Clang, thanks to Aaron
 2015-10-15 08:15:22 -07:00
erwincoumans 14eb70a06f Merge pull request #466 from rioharu/patch-1 
Update btInternalEdgeUtility.cpp, closes issue #389
 2015-10-09 10:09:01 -07:00
Jukka Jylänki 62d977f5cd Add missing <stdio.h> include in src/LinearMath/btMatrixX.h for printf() access. (missing in Emscripten/musl libc builds otherwise) 2015-10-08 18:19:10 +03:00
erwincoumans cb13054f2e Merge pull request #465 from cameronwhite/conetwist-motor 
Use the max motor impulse for cone twist constraints when the motor is enabled.
 2015-09-10 18:08:19 -07:00
= 3d10338ed5 fix warnings (thanks to Aaron!) 2015-09-10 17:52:41 -07:00
= 5be9119455 run the PhysicsServerExample 'stepSimulation' smoother 
fix a warning in ThirdParty/stb_image
fix an single/double precision issue in btPolyhedralContactClipping.cpp
 2015-09-08 13:39:09 -07:00
Cameron White 86880a2795 Only use the max motor impulse if it is positive (it defaults to -1). 2015-08-27 16:03:02 -04:00
rioharu 086902ea51 Update btInternalEdgeUtility.cpp 
Fixes issue #389 by removing code which causes a segfault in MinGW's GCC by removing code which did not affect subsequent operations.
 2015-08-26 15:10:30 -06:00
erwincoumans 83c4d25819 Merge pull request #460 from erwincoumans/master 
initial implementation to send debug lines from physics server to client
 2015-08-20 19:47:23 -07:00
Erwin Coumans 9c71a0bb7a Google Code -> github in btCollisionWorld.h documentation 2015-08-12 21:16:23 -07:00
erwincoumans 5853d071fb Merge pull request #445 from erwincoumans/master 
improve usability of ExampleBrowser
 2015-08-05 10:09:42 -07:00
erwincoumans 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
 2015-08-04 18:24:30 -07:00
Cameron White 29b251e81b Use the max motor impulse if the motor is enabled. 2015-08-04 10:54:34 -04:00
Andrew Meadows ac7dc87a4d btCompoundShape data members protected not private 2015-08-03 16:26:23 -07:00
erwincoumans 9d7d5caa8b Merge pull request #404 from donggas90/master 
Improve Compound Shape Construction.
 2015-08-03 08:49:30 -07:00
= eb6663ed4b further work on shared memory API 
fix dependency of BulletDynamics to Bullet3Common (b3Printf)
 2015-08-02 14:00:43 -07:00
Erwin Coumans 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
 2015-07-27 13:28:47 -07:00
Erwin Coumans 8e163c984d allow to control of powered joints after loading a URDF file, through shared memory 
more refactor of shared memory joint control API
 2015-07-20 23:35:29 -07:00
Erwin Coumans 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
 2015-07-15 17:39:43 -07:00
erwincoumans 70837d2d0b Merge pull request #424 from erwincoumans/master 
some improvements for ExampleBrowser (--demo-name="Basic Example, shared memory experiment etc)
 2015-07-12 15:09:28 -07:00
= 1b9eedd026 make btMultiBody destructor virtual (public github commit) 2015-07-12 14:56:47 -07:00
erwincoumans 51ec862582 Merge pull request #421 from erwincoumans/master 
fix shadowmap crash on some Intel GPUs, see https://github.com/bullet…
 2015-07-12 14:17:56 -07:00
erwincoumans 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)
 2015-07-10 22:20:06 -07:00
erwincoumans ae3e392b69 Merge pull request #420 from erwincoumans/master 
some work towards streaming Bullet data over shared memory for client…
 2015-07-09 18:19:59 -07:00
erwincoumans 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.
 2015-07-09 17:36:00 -07:00
erwincoumans 285ac286fa some work towards streaming Bullet data over shared memory for client/server 2015-07-09 14:04:58 -07:00
erwincoumans c293c3df8f Update btQuickprof.cpp 2015-07-08 23:22:41 -07:00
erwincoumans 4366070611 Update btQuickprof.cpp 
deal with Windows XP users, see https://github.com/bulletphysics/bullet3/issues/289#issuecomment-119133169
 2015-07-08 22:28:20 -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
 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
 2015-07-06 16:40:09 -07:00
Erwin Coumans (Google) 8517e85b21 fix various warning 
add b3ResourcePath utility, to locate resources relative to executable
 2015-07-03 18:17:14 -07:00
Erwin Coumans bc8b95dd9d remove some warnings 2015-06-26 12:59:48 -07:00
erwin coumans 3b4ad1cd5a add the option to shift the applied force/torque for a multibody joint (mobilizer) to the joint frame origin 2015-06-25 15:09:35 -07:00
Erwin Coumans 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)
 2015-06-24 23:19:00 -07:00
erwin coumans b14afba350 more work-in-progress on joint-torque sensor sample and server/client shared memory API 2015-06-22 15:30:57 -07:00
erwin coumans 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
 2015-06-19 15:51:24 -07:00
erwincoumans 89edc40d61 First step in btMultiBody joint force/torque feedback. There is still some work to be done for 'mobilizer limit/motor'. 
See examples/MultiBody/TestJointTorqueSetup and examples/Constraints/TestHingeTorque for joint feedback.
 2015-06-19 09:18:27 -07:00