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leggedrobotics / SimBenchmark

Physics engine benchmark for robotics applications: RaiSim vs Bullet vs ODE vs MuJoCo vs DartSim
https://leggedrobotics.github.io/SimBenchmark/
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dart: libbullet-dev double precision #10

Closed eastskykang closed 6 years ago

eastskykang commented 6 years ago

does libbullet-dev support double precision?

jslee02 commented 6 years ago

For clarification, do you refer to libdart6-collision-bullet-dev or libbullet-dev? If you mean libbullet-dev, it isn't built with the double precision option by looking at the debian file here for example. Also, as libdart6-collision-bullet-dev is built on libbullet-dev, DART inherently uses Bullet with single precision unless you build them from source.

eastskykang commented 6 years ago

@jslee02 thank you so much for your quick response! We are now using Bullet built from the source with double precision but I got an error as I turned on DBT_USE_DOUBLE_PRECISION from my docker container using libbullet-dev.

ps. Is libdart6-collision-bullet-dev enough to use bullet-collision for dart? It would be nice to change install manual if it's the case.

jslee02 commented 6 years ago

I got an error as I turned on DBT_USE_DOUBLE_PRECISION from my docker container using libbullet-dev

This is presumably because libbullet-dev isn't built with DBT_USE_DOUBLE_PRECISION turned on.

Is libdart6-collision-bullet-dev enough to use bullet-collision for dart?

libdart6-collision-bullet-dev is an necessary component to use bullet collision detection in DART, but you may need other components as well. I generally recommend installing all the components using libdart6-all-dev.

eastskykang commented 6 years ago

@jslee02 okay thank you for your suggestion. I will close this issue.