Really cool the paper you pointed out.
I wish I could help you with this but versions seem to be meshed up so I'll
wait for you.
I have not yet installed PAL, I'm waiting to make Gazebo PAL aware (if Nate
likes it)
PAL can be really cool to let people try PhysX if interested.
On Jan 19, 2008 4:57 PM, Volker Darius <[EMAIL PROTECTED]> wrote:
> Hey Jordi!
>
>
>
> Ok, I will try to do the update / merge everything next week – I have an
> important presentation on Friday and need to provide some results for that
> first. Well.. I do not remember whether I made more changes before or not –
> there might be a few, you are right. It might also be a slightly different
> SVN version, I was not really sure that I picked the file with the last SVN
> update to get the version number. Anyway, these issues will disappear after
> the merge of course. Do you have PAL running on your system already? Did you
> change the linkage? ..I did not check that into the SVN as my solution here
> was really ugly.
>
>
>
> Btw, there is paper about the comparison of physics engines on the PAL
> website (http://www.adrianboeing.com/pal/documentation.html -->
> publications).
>
>
>
> I am not quite sure whether Nate is really happy with this patch / general
> move, as I did not ask for this corporation on this before. I just had to do
> it, because we needed another physics engine here and when I asked for
> general PhysX integration in the list, Nate declined that.
>
>
>
> Cheers,
>
> Volker
>
>
>
>
>
> *Von:* Jordi [mailto:[EMAIL PROTECTED]
> *Gesendet:* Samstag, 19. Januar 2008 08:25
> *An:* Volker Darius
> *Betreff:* Re: [PlayerStage-Gazebo] Physics Abstraction Layer
>
>
>
>
> I have tried to apply the patch over version 205 with no luck. It seems
> that some parts of the code were updated before doing the patch and others
> didn't? The best thing update everything and work out the conflicts. They
> will be some but would look obvious for you.
>
> Anyway, we have to wait for Nate's opinion on PAL but if it goes in, I
> think we can have installation tutorials for some of the simulator libraries
> that can be used, and even a comparison of accuracy & speed. So we can see
> how PhysX compares with other engines.
>
>
> On Jan 18, 2008 6:01 PM, Volker Darius <[EMAIL PROTECTED]> wrote:
>
> Hi there!
>
>
>
> hehe.. yes, you are right, the patch is not really reviewer-friendly right
> now.
>
> Well.. I tried to merge, but did not trust the merge function as I wanted
> to see what is merged before it is done, thats why I did it manually. But
> ok, its not the best way to go, I am sure so.. will try to merge in the next
> days and send you an modified version.
>
>
>
> The problem is, that I had to change many many things not directly
> regarding physics ( e.g. load order / position setting..) which influence
> the physics indirectly.
>
>
>
> Btw.. PhysX is great [Of coure Gazebo is too ;-)]. So much faster, so much
> more precise, so cool to just load a mesh from maya and see it working.. ;-)
>
>
>
>
> Cheers
>
> Volker
>
>
> ------------------------------
>
> *From:* Jordi [mailto:[EMAIL PROTECTED]
> *Sent:* Fri 18.01.2008 04:38
> *To:* Gazebo developers; Volker Darius
> *Subject:* Re: [PlayerStage-Gazebo] Physics Abstraction Layer
>
>
> It is an impressive patch. I wasn't aware of PAL, I have just taken a 5
> minutes look to it but it seems the right way to go for Gazebo, thank you
> very much.
>
> The patch itself as you said is somewhat strange because the inclusion of
> changes from 206 to current SVN.
> What you can do to send and smaller ( can be reviewer easily) patch is
>
> 1.- svn up your copy , you surely will get some files marked by C
> (conflict)
> 2.- manually modify the files. If you have done such an impressive patch,
> you'll have no problems with that.
> 3. svn diff > patch_pal
>
> That will send only your differences and not everything else.
>
> Thank you!
>
> On Jan 18, 2008 3:39 AM, Volker Darius < [EMAIL PROTECTED]> wrote:
>
> Hi List,
>
> I just provided a patch to integrate the Physics Abstraction Layer (PAL,
> http://pal.sf.net) into Gazebo. Integration (which I have to admit might
> cause problems as the SVN version I used is from before christmas) would
> make it possible to use all the physics engines supported by PAL ( e.g.
> Ageia PhysX, ODE, Bullet, ..) just by simply switching the name within the
> XML file.
>
> And I can tell you from what I see here that e.g. PhysX is much faster and
> more accurate, especially when it goes to trimesh collisions and large
> trimeshes in general.
> Unfortunately PhysX its closed source (API libraries are provided for free
> though), but I think by using PAL we would be on a good way to keep our
> Simulation system as flexible as possible.
>
> If you want to give it a try or have questions, feel free to contact me
> ;-)
>
> Cheers,
> Volker
>
>
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>
>
>
> --
> Jordi Polo Carres
> Natural language processing laboratory
> NAIST
> http://www.bahasara.org
>
>
>
>
> --
> Jordi Polo Carres
> Natural language processing laboratory
> NAIST
> http://www.bahasara.org
>
--
Jordi Polo Carres
Natural language processing laboratory
NAIST
http://www.bahasara.org
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