Merge from upstream master branch #18
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* Constraints: allow cfm > 1 * Update CHANGELOG.md
…sim#1372) * Reset internal force of point mass before every simulation step * Fix typos * Update changelog
…1369) * Add test to show that setting friction per shape doesn't work * Fix setting friction and restitution per shape * Format code and remove use of deprecated APIs * Update changelog * Add more comments * Fix dartpy build failures by API changes * Create DynamicsAspect for dynamics simulation in test_Issue1184.cpp
* Enable octomap support on macOS * Update changelog
…m#1377) * Add dartpy access to getTransformFrom{Parent|Child}BodyNode() For now, those Isometry transformations could only be set, but not read. 1. Add wrapper to add get functionality. 2. Add python unittest to verify, that it is available and returns the same Isometry3. * Update Joint* to const in python/dartpy/dynamics/Joint.cpp Co-Authored-By: Jeongseok Lee <jslee02@users.noreply.github.com> * Update Joint* to const in python/dartpy/dynamics/Joint.cpp Co-Authored-By: Jeongseok Lee <jslee02@users.noreply.github.com>
* Fix refresh of LineSegmentShapeNode * Update changelog * Fix element vector update
* Format utils code * Allow parsing SDF up to version 1.6 * Update SdfParser.cpp
* Create dynamics aspect for collision shape in sdf parser * Update changelog
* Parse sdf's joint dynamics completely - Parse joint friction, spring_stiffness, spring_reference Signed-off-by: vinnamkim <vinnam.kim@gmail.com> * Apply clang-format to SdfParser.cpp Signed-off-by: vinnamkim <vinnam.kim@gmail.com> * Fix error on spring_stiffness Signed-off-by: vinnamkim <vinnam.kim@gmail.com> * Add unittest for joint_properties Signed-off-by: vinnamkim <vinnam.kim@gmail.com> * Fix version of the sdf file for unittest Signed-off-by: vinnamkim <vinnam.kim@gmail.com>
`getGravityForces()` and `getExternalForces()` are fixed in dartpy.dynamics.MetaSkeleton and dartpy.dynamics.Skeleton.
* colcon.pkg: DART depend on ODE, BULLET_PHYSICS * Add file header to colcon.pkg
* FindBullet: separate WIN32 debug/optimized libs * azure: vcpkg install bullet3 ode * use VCPKG_OPTIONAL_PACKAGES
* Add option for parsing root joint type without world link * Add comment on the flags * Update changelog
* Test if find_package(GLUT) works on Windows * Set DART_VERBOSE=On on Appveyor * Print warning for disabled component due to missing dependent target * Install tinyxml2 on Appveyor * Install opengl and freeglut to see if dart-gui is built * Update glut package name
* azure: utils vcpkg install tinyxml2, boost headers * utils: check for boost headers * gui: disable win32 build * remove target_include_directories
* Add color support for dartpy osg Viewer and ImGuiViewer An Eigen::Vector4f can be passed to the viewer constructor to set the background color. * Fix implicit conversion from python lists to numpy vector only works for double vectors * Add white background color to * Fix wrong comment
* Findassimp: SEND_ERROR if version is too old * Use cmake message(WARNING) when appropriate * check if ASSIMP_VERSION is set * utils-urdf: clarify warning if urdfdom is missing
Co-authored-by: Grey <grey@openrobotics.org>
…eton (dartsim#1489) Co-authored-by: Grey <grey@openrobotics.org>
Co-authored-by: Jeongseok Lee <jslee02@users.noreply.github.com>
Co-authored-by: Jeongseok Lee <jslee02@users.noreply.github.com>
Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Co-authored-by: Grey <grey@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Co-authored-by: Stefan Profanter <stefan.profanter@agile-robots.com>
Co-authored-by: Jeongseok Lee <jslee02@users.noreply.github.com>
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This is a merge with f0ba239, currently the tip of upstream master; I'm not sure if we want to merge our fork with
masterall the way, but this is at least useful as a reference.At a minimum, we should merge dartsim#1407, which would be easy as a cherry-pick, but there are also some PR's missing that provide better windows support.