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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2019-12-13 09:21:00 -08:00
parent 30b42a14f0 082a1ddbfe
commit 7241fe19b9
24 changed files with 27217 additions and 142 deletions
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1
examples/ExampleBrowser/premake4.lua
View File

@@ -199,7 +199,6 @@ project "App_BulletExampleBrowser"
"../RigidBody/RigidBodySoftContact.cpp", "../RigidBody/RigidBodySoftContact.cpp",
"../ThirdPartyLibs/stb_image/stb_image.cpp", "../ThirdPartyLibs/stb_image/stb_image.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*", "../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
"../ThirdPartyLibs/BussIK/*",
"../GyroscopicDemo/GyroscopicSetup.cpp", "../GyroscopicDemo/GyroscopicSetup.cpp",
"../GyroscopicDemo/GyroscopicSetup.h", "../GyroscopicDemo/GyroscopicSetup.h",
"../ThirdPartyLibs/tinyxml2/tinyxml2.cpp", "../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",

4
examples/SharedMemory/premake4.lua
View File

@@ -72,8 +72,6 @@ myfiles =
"plugins/collisionFilterPlugin/collisionFilterPlugin.cpp", "plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
"plugins/pdControlPlugin/pdControlPlugin.cpp", "plugins/pdControlPlugin/pdControlPlugin.cpp",
"plugins/pdControlPlugin/pdControlPlugin.h", "plugins/pdControlPlugin/pdControlPlugin.h",
"../OpenGLWindow/SimpleCamera.cpp",
"../OpenGLWindow/SimpleCamera.h",
"../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h", "../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
"../Importers/ImportURDFDemo/MultiBodyCreationInterface.h", "../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp", "../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
@@ -115,6 +113,8 @@ myfiles =
files { files {
myfiles, myfiles,
"../OpenGLWindow/SimpleCamera.cpp",
"../OpenGLWindow/SimpleCamera.h",
"main.cpp", "main.cpp",
} }

10
examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.mtl Normal file
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@@ -0,0 +1,10 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2

2497
examples/pybullet/gym/pybullet_data/laikago/chassis_vhacd_mod_zup.obj Normal file
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13
examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl Normal file
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@@ -0,0 +1,13 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None.003
Ns 0.000000
Ka 0.000000 0.000000 0.000000
Kd 0.800000 0.800000 0.800000
Ks 0.800000 0.800000 0.800000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Kd laikago_tex.jpg

24050
examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj Normal file
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598
examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup.urdf Normal file
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@@ -0,0 +1,598 @@
<?xml version="1.0" ?>
<robot name="plane">
<link name="chassis">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="13.715"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz=" 0 0 0"/>
<geometry>
<mesh filename="chassis_zup.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="chassis_vhacd_mod_zup.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<link name="FR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="FR_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="0.199095 -0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_hip_motor"/>
<child link="FR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_upper_leg"/>
<child link="FR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="FL_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="0.199095 0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_hip_motor"/>
<child link="FL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_upper_leg"/>
<child link="FL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="RR_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="-0.238195 -0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror2.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_hip_motor"/>
<child link="RR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_upper_leg"/>
<child link="RR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="RL_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="-0.238195 0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left2.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_hip_motor"/>
<child link="RL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_upper_leg"/>
<child link="RL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="toeRL">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeRL" type="fixed">
<parent link="RL_lower_leg"/>
<child link="toeRL"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeRR">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeRR" type="fixed">
<parent link="RR_lower_leg"/>
<child link="toeRR"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeFL">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeFL" type="fixed">
<parent link="FL_lower_leg"/>
<child link="toeFL"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeFR">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeFR" type="fixed">
<parent link="FR_lower_leg"/>
<child link="toeFR"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot>

29
examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
View File

@@ -1,29 +0,0 @@
import functools
import inspect
import pybullet
class BulletClient(object):
"""A wrapper for pybullet to manage different clients."""
def __init__(self, connection_mode=pybullet.DIRECT, options=""):
"""Create a simulation and connect to it."""
self._client = pybullet.connect(pybullet.SHARED_MEMORY)
if (self._client < 0):
print("options=", options)
self._client = pybullet.connect(connection_mode, options=options)
self._shapes = {}
def __del__(self):
"""Clean up connection if not already done."""
try:
pybullet.disconnect(physicsClientId=self._client)
except pybullet.error:
pass
def __getattr__(self, name):
"""Inject the client id into Bullet functions."""
attribute = getattr(pybullet, name)
if inspect.isbuiltin(attribute):
attribute = functools.partial(attribute, physicsClientId=self._client)
return attribute

6
examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py
View File

@@ -17,7 +17,7 @@ from gym import spaces
from gym.utils import seeding from gym.utils import seeding
import numpy as np import numpy as np
import pybullet import pybullet
from . import bullet_client import pybullet_utils.bullet_client as bc
from . import minitaur from . import minitaur
import pybullet_data import pybullet_data
from . import minitaur_env_randomizer from . import minitaur_env_randomizer
@@ -150,9 +150,9 @@ class MinitaurBulletDuckEnv(gym.Env):
self._action_repeat *= NUM_SUBSTEPS self._action_repeat *= NUM_SUBSTEPS
if self._is_render: if self._is_render:
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI) self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI)
else: else:
self._pybullet_client = bullet_client.BulletClient() self._pybullet_client = bc.BulletClient()
self.seed() self.seed()
self.reset() self.reset()

6
examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
View File

@@ -14,7 +14,7 @@ from gym import spaces
from gym.utils import seeding from gym.utils import seeding
import numpy as np import numpy as np
import pybullet import pybullet
from . import bullet_client import pybullet_utils.bullet_client as bc
from . import minitaur from . import minitaur
import os import os
import pybullet_data import pybullet_data
@@ -145,9 +145,9 @@ class MinitaurBulletEnv(gym.Env):
self._action_repeat *= NUM_SUBSTEPS self._action_repeat *= NUM_SUBSTEPS
if self._is_render: if self._is_render:
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI) self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI)
else: else:
self._pybullet_client = bullet_client.BulletClient() self._pybullet_client = bc.BulletClient()
self.seed() self.seed()
self.reset() self.reset()

6
examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py
View File

@@ -12,7 +12,7 @@ import numpy as np
import pybullet import pybullet
from . import racecar from . import racecar
import random import random
from . import bullet_client import pybullet_utils.bullet_client as bc
import pybullet_data import pybullet_data
from pkg_resources import parse_version from pkg_resources import parse_version
@@ -40,9 +40,9 @@ class RacecarGymEnv(gym.Env):
self._renders = renders self._renders = renders
self._isDiscrete = isDiscrete self._isDiscrete = isDiscrete
if self._renders: if self._renders:
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI) self._p = bc.BulletClient(connection_mode=pybullet.GUI)
else: else:
self._p = bullet_client.BulletClient() self._p = bc.BulletClient()
self.seed() self.seed()
#self.reset() #self.reset()

6
examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py
View File

@@ -10,7 +10,7 @@ from gym.utils import seeding
import numpy as np import numpy as np
import time import time
import pybullet import pybullet
from . import bullet_client import pybullet_utils.bullet_client as bc
from . import racecar from . import racecar
import random import random
import pybullet_data import pybullet_data
@@ -42,9 +42,9 @@ class RacecarZEDGymEnv(gym.Env):
self._isDiscrete = isDiscrete self._isDiscrete = isDiscrete
if self._renders: if self._renders:
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI) self._p = bc.BulletClient(connection_mode=pybullet.GUI)
else: else:
self._p = bullet_client.BulletClient() self._p = bc.BulletClient()
self.seed() self.seed()
self.reset() self.reset()

2
examples/pybullet/gym/pybullet_envs/examples/batchsim3.py
View File

@@ -5,7 +5,7 @@ parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir) os.sys.path.insert(0, parentdir)
from pybullet_utils import bullet_client from pybullet_utils import bullet_client
import panda_sim from pybullet_envs.examples import panda_sim
import time import time

4
examples/pybullet/gym/pybullet_envs/examples/loadpanda.py
View File

@@ -3,7 +3,7 @@ import pybullet_data as pd
import math import math
import time import time
import numpy as np import numpy as np
import panda_sim from pybullet_envs.examples import panda_sim
p.connect(p.GUI) p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1) p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)
@@ -18,4 +18,4 @@ while (1):
panda.step() panda.step()
p.stepSimulation() p.stepSimulation()
time.sleep(timeStep) time.sleep(timeStep)

54
examples/pybullet/gym/pybullet_envs/minitaur/envs/bullet_client.py
View File

@@ -1,54 +0,0 @@
"""A wrapper for pybullet to manage different clients."""
from __future__ import absolute_import
from __future__ import division
import functools
import inspect
import pybullet
class BulletClient(object):
"""A wrapper for pybullet to manage different clients."""
def __init__(self, connection_mode=None):
"""Creates a Bullet client and connects to a simulation.
Args:
connection_mode:
`None` connects to an existing simulation or, if fails, creates a
new headless simulation,
`pybullet.GUI` creates a new simulation with a GUI,
`pybullet.DIRECT` creates a headless simulation,
`pybullet.SHARED_MEMORY` connects to an existing simulation.
"""
self._shapes = {}
if connection_mode is None:
self._client = pybullet.connect(pybullet.SHARED_MEMORY)
if self._client >= 0:
return
else:
connection_mode = pybullet.DIRECT
self._client = pybullet.connect(connection_mode)
def __del__(self):
"""Clean up connection if not already done."""
try:
pybullet.disconnect(physicsClientId=self._client)
except pybullet.error:
pass
def __getattr__(self, name):
"""Inject the client id into Bullet functions."""
attribute = getattr(pybullet, name)
if inspect.isbuiltin(attribute):
if name not in [
"invertTransform",
"multiplyTransforms",
"getMatrixFromQuaternion",
"getEulerFromQuaternion",
"computeViewMatrixFromYawPitchRoll",
"computeProjectionMatrixFOV",
"getQuaternionFromEuler",
]: # A temporary hack for now.
attribute = functools.partial(attribute, physicsClientId=self._client)
return attribute

6
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py
View File

@@ -14,7 +14,7 @@ from gym import spaces
from gym.utils import seeding from gym.utils import seeding
import numpy as np import numpy as np
import pybullet import pybullet
from pybullet_envs.minitaur.envs import bullet_client import pybullet_utils.bullet_client as bc
import pybullet_data import pybullet_data
from pybullet_envs.minitaur.envs import minitaur from pybullet_envs.minitaur.envs import minitaur
from pybullet_envs.minitaur.envs import minitaur_derpy from pybullet_envs.minitaur.envs import minitaur_derpy
@@ -223,9 +223,9 @@ class MinitaurGymEnv(gym.Env):
self._env_randomizers = convert_to_list(env_randomizer) if env_randomizer else [] self._env_randomizers = convert_to_list(env_randomizer) if env_randomizer else []
self._episode_proto = minitaur_logging_pb2.MinitaurEpisode() self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
if self._is_render: if self._is_render:
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI) self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI)
else: else:
self._pybullet_client = bullet_client.BulletClient() self._pybullet_client = bc.BulletClient()
if self._urdf_version is None: if self._urdf_version is None:
self._urdf_version = DEFAULT_URDF_VERSION self._urdf_version = DEFAULT_URDF_VERSION
self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0) self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0)

6
examples/pybullet/gym/pybullet_envs/prediction/pybullet_sim_gym_env.py
View File

@@ -14,7 +14,7 @@ from gym import spaces
from gym.utils import seeding from gym.utils import seeding
import numpy as np import numpy as np
import pybullet import pybullet
from pybullet_envs.bullet import bullet_client import pybullet_utils.bullet_client as bc
from pybullet_envs.prediction import boxstack_pybullet_sim from pybullet_envs.prediction import boxstack_pybullet_sim
@@ -71,10 +71,10 @@ class PyBulletSimGymEnv(gym.Env):
print("urdf_root=" + self._urdf_root) print("urdf_root=" + self._urdf_root)
if self._is_render: if self._is_render:
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI, self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI,
options=optionstring) options=optionstring)
else: else:
self._pybullet_client = bullet_client.BulletClient() self._pybullet_client = bc.BulletClient()
if (debug_visualization == False): if (debug_visualization == False):
self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_GUI, self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_GUI,

4
examples/pybullet/premake4.lua
View File

@@ -109,8 +109,6 @@ if not _OPTIONS["no-enet"] then
"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h", "../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp", "../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h", "../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h",
"../../examples/OpenGLWindow/SimpleCamera.cpp",
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/TinyRenderer/geometry.cpp", "../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp", "../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp", "../../examples/TinyRenderer/tgaimage.cpp",
@@ -157,8 +155,6 @@ if not _OPTIONS["no-enet"] then
"../../examples/SharedMemory/PosixSharedMemory.h", "../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/SharedMemory/SharedMemoryCommands.h", "../../examples/SharedMemory/SharedMemoryCommands.h",
"../../examples/SharedMemory/SharedMemoryPublic.h", "../../examples/SharedMemory/SharedMemoryPublic.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp", "../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h", "../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",

4
examples/pybullet/pybullet.c
View File

@@ -2065,6 +2065,10 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
{ {
b3LoadSoftBodyAddNeoHookeanForce(command, NeoHookeanMu, NeoHookeanLambda, NeoHookeanDamping); b3LoadSoftBodyAddNeoHookeanForce(command, NeoHookeanMu, NeoHookeanLambda, NeoHookeanDamping);
} }
if (useSelfCollision)
{
b3LoadSoftBodySetSelfCollision(command, useSelfCollision);
}
b3LoadSoftBodySetFrictionCoefficient(command, frictionCoeff); b3LoadSoftBodySetFrictionCoefficient(command, frictionCoeff);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle); statusType = b3GetStatusType(statusHandle);

2
setup.py
View File

@@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
setup( setup(
name='pybullet', name='pybullet',
version='2.5.8', version='2.6.0',
description= description=
'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description= long_description=

16
src/Bullet3Common/b3Logging.h
View File

@@ -14,20 +14,8 @@ extern "C"
//#define b3Printf b3OutputPrintfVarArgsInternal //#define b3Printf b3OutputPrintfVarArgsInternal
//#define b3Printf(...) printf(__VA_ARGS__) //#define b3Printf(...) printf(__VA_ARGS__)
//#define b3Printf(...) //#define b3Printf(...)
#define b3Warning(...) do{ b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__);b3OutputWarningMessageVarArgsInternal(__VA_ARGS__);} while (0)
#define b3Warning(...) \ #define b3Error(...)do {b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__);b3OutputErrorMessageVarArgsInternal(__VA_ARGS__);} while (0)
do \
{ \
b3OutputWarningMessageVarArgsInternal("b3Warning[%s,%d]:\n", __FILE__, __LINE__); \
b3OutputWarningMessageVarArgsInternal(__VA_ARGS__); \
} while (0)
#define b3Error(...) \
do \
{ \
b3OutputErrorMessageVarArgsInternal("b3Error[%s,%d]:\n", __FILE__, __LINE__); \
b3OutputErrorMessageVarArgsInternal(__VA_ARGS__); \
} while (0)
#ifndef B3_NO_PROFILE #ifndef B3_NO_PROFILE
void b3EnterProfileZone(const char* name); void b3EnterProfileZone(const char* name);

26
src/Bullet3Common/b3Scalar.h
View File

@@ -71,7 +71,17 @@ inline int b3GetVersion()
#if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION)) #if (defined(_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined(B3_USE_DOUBLE_PRECISION))
#if (defined(_M_IX86) || defined(_M_X64)) #if (defined(_M_IX86) || defined(_M_X64))
#ifdef __clang__
//#define B3_NO_SIMD_OPERATOR_OVERLOADS
#define B3_DISABLE_SSE
#endif //__clang__
#ifndef B3_DISABLE_SSE
#define B3_USE_SSE #define B3_USE_SSE
#endif //B3_DISABLE_SSE
#ifdef B3_USE_SSE #ifdef B3_USE_SSE
//B3_USE_SSE_IN_API is disabled under Windows by default, because //B3_USE_SSE_IN_API is disabled under Windows by default, because
//it makes it harder to integrate Bullet into your application under Windows //it makes it harder to integrate Bullet into your application under Windows
@@ -92,17 +102,7 @@ inline int b3GetVersion()
#ifdef B3_DEBUG #ifdef B3_DEBUG
#ifdef _MSC_VER #ifdef _MSC_VER
#include <stdio.h> #include <stdio.h>
#define b3Assert(x) \ #define b3Assert(x) { if(!(x)){b3Error("Assert " __FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }}
{ \
if (!(x)) \
{ \
b3Error( \
"Assert "__FILE__ \
":%u (" #x ")\n", \
__LINE__); \
__debugbreak(); \
} \
}
#else //_MSC_VER #else //_MSC_VER
#include <assert.h> #include <assert.h>
#define b3Assert assert #define b3Assert assert
@@ -297,7 +297,7 @@ static int b3NanMask = 0x7F800001;
static int b3InfinityMask = 0x7F800000; static int b3InfinityMask = 0x7F800000;
#define B3_INFINITY_MASK (*(float *)&b3InfinityMask) #define B3_INFINITY_MASK (*(float *)&b3InfinityMask)
#endif #endif
#ifndef B3_NO_SIMD_OPERATOR_OVERLOADS
inline __m128 operator+(const __m128 A, const __m128 B) inline __m128 operator+(const __m128 A, const __m128 B)
{ {
return _mm_add_ps(A, B); return _mm_add_ps(A, B);
@@ -312,7 +312,7 @@ inline __m128 operator*(const __m128 A, const __m128 B)
{ {
return _mm_mul_ps(A, B); return _mm_mul_ps(A, B);
} }
#endif //B3_NO_SIMD_OPERATOR_OVERLOADS
#define b3CastfTo128i(a) (_mm_castps_si128(a)) #define b3CastfTo128i(a) (_mm_castps_si128(a))
#define b3CastfTo128d(a) (_mm_castps_pd(a)) #define b3CastfTo128d(a) (_mm_castps_pd(a))
#define b3CastiTo128f(a) (_mm_castsi128_ps(a)) #define b3CastiTo128f(a) (_mm_castsi128_ps(a))

7
src/LinearMath/btScalar.h
View File

@@ -110,11 +110,16 @@ inline int btIsDoublePrecision()
#if defined (_M_ARM) #if defined (_M_ARM)
//Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however) //Do not turn SSE on for ARM (may want to turn on BT_USE_NEON however)
#elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) #elif (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION))
#ifdef __clang__
#define __BT_DISABLE_SSE__
#endif
#ifndef __BT_DISABLE_SSE__
#if _MSC_VER>1400 #if _MSC_VER>1400
#define BT_USE_SIMD_VECTOR3 #define BT_USE_SIMD_VECTOR3
#endif #endif
#define BT_USE_SSE #define BT_USE_SSE
#endif//__BT_DISABLE_SSE__
#ifdef BT_USE_SSE #ifdef BT_USE_SSE
#if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default) #if (_MSC_FULL_VER >= 170050727)//Visual Studio 2012 can compile SSE4/FMA3 (but SSE4/FMA3 is not enabled by default)

2
test/SharedMemory/premake4.lua
View File

@@ -413,8 +413,6 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
"../../examples/TinyRenderer/tgaimage.cpp", "../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp", "../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp", "../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp", "../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h", "../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp", "../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",