Hello, PAL sounds like a great idea. We should definitely integrate this into Gazebo. Thanks for the hard work, and keep me posted.
-nate On Jan 19, 2008 6:56 AM, Jordi <[EMAIL PROTECTED]> wrote: > > 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 > > > > > > ------------------------------------------------------------------------- > > This SF.net email is sponsored by: Microsoft > > Defy all challenges. Microsoft(R) Visual Studio 2008. > > http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ > > _______________________________________________ > > Playerstage-gazebo mailing list > > [email protected] > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > > > > > > -- > > 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 > > ------------------------------------------------------------------------- > This SF.net email is sponsored by: Microsoft > Defy all challenges. Microsoft(R) Visual Studio 2008. > http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ > > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > ------------------------------------------------------------------------- This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2008. http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
