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Bullet 3 gpu physics support

Posted: 09 Oct 2014, 09:09
by el_Raimundo
Hello,
some time has passed since this post viewtopic.php?f=7&t=1403&p=5323&hilit=gpu#p5323
and in the meantime bullet 3 has been released, claiming that "The entire collision detection and rigid body dynamics is executed on the GPU." (see https://github.com/bulletphysics/bullet3)

I think this is an exciting opportunity for applications where simulation speed is an issue, offering the prospect of massive performance gains.
As far as I understand from the v-rep documentation, the interface with the physics engines is designed with modularity in mind,
so that, at least in theory, they should be easily interchangeable.

Can you give me some advice as to how to start if I was to fiddle with the physics engines in vrep?
or is there any specific plan to make use of bullet 3's gpu acceleration features in the near future?

thank you very much,
raimund

Re: Bullet 3 gpu physics support

Posted: 09 Oct 2014, 17:00
by coppelia
Hello Raimund,

it is true that we will soon have to update the Bullet source code to match the last developments. If most functions have stayed same, then it shouldn't be too difficult, it is just important to take great care about the parts of the Bullet source code that we modified, otherwise something will break.

What has to be done is simply take the dynamicsPlugin project and update the Bullet folder. Then adjust here and there.

Cheers

Re: Bullet 3 gpu physics support

Posted: 26 Apr 2015, 08:24
by JJEHL
Hello,

Have you update the bullet engine (2.82 is available or 3 ?) in the new release V-REP 3.2.1 ? If not have you plan to do it soon ?

Cheers.

Re: Bullet 3 gpu physics support

Posted: 27 Apr 2015, 11:20
by coppelia
Hello,

this was not yet updated. What we will first do, is allow for a mechanism to run several versions of Bullet in the same V-REP, in oder to avoid situations where the Bullet update breaks some compatibility with older scenes.

Cheers

Re: Bullet 3 gpu physics support

Posted: 28 May 2017, 18:16
by ahundt
Bullet now has improved physics algorithms designed specifically for robotics which improve the accuracy during interactions such as grasping. In addition to the new python API there is a C and C++ API. https://github.com/bulletphysics/bullet3/releases

Re: Bullet 3 gpu physics support

Posted: 29 May 2017, 12:18
by coppelia
Hello,

yes, this should be integrated, hopefully by the end of the year.

Cheers

Re: Bullet 3 gpu physics support

Posted: 30 May 2017, 21:10
by ahundt
cool! They're also very interested in API feedback at this early stage. If there is anything that would make V-REP integration easier you may wish to comment with a github issue. They are incorporating some new ik and constrained opti algorithms for control as well.