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

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This commit is contained in:
Erwin Coumans
2017-09-15 13:12:06 -07:00
parent 3d7ee317db 2e7c0cef38
commit 81bf709ad7
11 changed files with 31 additions and 46 deletions
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1
examples/ExampleBrowser/main.cpp
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@@ -29,7 +29,6 @@ static OpenGLExampleBrowser* sExampleBrowser=0;
#include <unistd.h>
static void cleanup(int signo)
{
printf("SIG cleanup: %d\n", signo);
if (interrupted) { // this is the second time, we're hanging somewhere
// if (example) {

15
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3477,21 +3477,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0)
{
//m_data->m_guiHelper->copyCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix,clientCmd.m_requestPixelDataArguments.m_projectionMatrix,0,0,0,0,0,width,height,0);
}
else
{
if ((clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) &&
if ((clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0) &&
(clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT)!=0)
{
{
m_data->m_visualConverter.setWidthAndHeight(clientCmd.m_requestPixelDataArguments.m_pixelWidth,
clientCmd.m_requestPixelDataArguments.m_pixelHeight);
}
m_data->m_visualConverter.getWidthAndHeight(width,height);
}
}
int numTotalPixels = width*height;

2
examples/pybullet/gym/pybullet_envs/env_bases.py
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@@ -46,7 +46,7 @@ class MJCFBaseBulletEnv(gym.Env):
else:
self.physicsClientId = p.connect(p.DIRECT)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
if self.scene is None:
self.scene = self.create_single_player_scene()
if not self.scene.multiplayer:

36
examples/pybullet/gym/pybullet_envs/robot_locomotors.py
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@@ -152,23 +152,25 @@ class Humanoid(WalkerBase):
self.motor_names += ["left_shoulder1", "left_shoulder2", "left_elbow"]
self.motor_power += [75, 75, 75]
self.motors = [self.jdict[n] for n in self.motor_names]
# if self.random_yaw: # TODO: Make leaning work as soon as the rest works
# cpose = cpp_household.Pose()
# yaw = self.np_random.uniform(low=-3.14, high=3.14)
# if self.random_lean and self.np_random.randint(2)==0:
# cpose.set_xyz(0, 0, 1.4)
# if self.np_random.randint(2)==0:
# pitch = np.pi/2
# cpose.set_xyz(0, 0, 0.45)
# else:
# pitch = np.pi*3/2
# cpose.set_xyz(0, 0, 0.25)
# roll = 0
# cpose.set_rpy(roll, pitch, yaw)
# else:
# cpose.set_xyz(0, 0, 1.4)
# cpose.set_rpy(0, 0, yaw) # just face random direction, but stay straight otherwise
# self.cpp_robot.set_pose_and_speed(cpose, 0,0,0)
if self.random_yaw:
position = [0,0,0]
orientation = [0,0,0]
yaw = self.np_random.uniform(low=-3.14, high=3.14)
if self.random_lean and self.np_random.randint(2)==0:
cpose.set_xyz(0, 0, 1.4)
if self.np_random.randint(2)==0:
pitch = np.pi/2
position = [0, 0, 0.45]
else:
pitch = np.pi*3/2
position = [0, 0, 0.25]
roll = 0
orientation = [roll, pitch, yaw]
else:
position = [0, 0, 1.4]
orientation = [0, 0, yaw] # just face random direction, but stay straight otherwise
self.robot_body.reset_position(position)
self.robot_body.reset_orientation(orientation)
self.initial_z = 0.8
random_yaw = False

4
examples/pybullet/gym/pybullet_envs/robot_pendula.py
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@@ -15,7 +15,7 @@ class InvertedPendulum(MJCFBasedRobot):
self.j1.set_motor_torque(0)
def apply_action(self, a):
#assert( np.isfinite(a).all() )
assert( np.isfinite(a).all() )
if not np.isfinite(a).all():
print("a is inf")
a[0] = 0
@@ -24,7 +24,7 @@ class InvertedPendulum(MJCFBasedRobot):
def calc_state(self):
self.theta, theta_dot = self.j1.current_position()
x, vx = self.slider.current_position()
#assert( np.isfinite(x) )
assert( np.isfinite(x) )
if not np.isfinite(x):
print("x is inf")

6
examples/pybullet/gym/pybullet_envs/scene_abstract.py
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@@ -15,10 +15,6 @@ class Scene:
self.dt = self.timestep * self.frame_skip
self.cpp_world = World(gravity, timestep, frame_skip)
#self.cpp_world.set_glsl_path(os.path.join(os.path.dirname(__file__), "cpp-household/glsl"))
#self.big_caption = self.cpp_world.test_window_big_caption # that's a function you can call
#self.console_print = self.cpp_world.test_window_print # this too
self.test_window_still_open = True # or never opened
self.human_render_detected = False # if user wants render("human"), we open test window
@@ -52,8 +48,6 @@ class Scene:
The idea is: apply motor torques for all robots, then call global_step(), then collect
observations from robots using step() with the same action.
"""
#if self.human_render_detected:
# self.test_window_still_open = self.cpp_world.test_window()
self.cpp_world.step(self.frame_skip)
class SingleRobotEmptyScene(Scene):

5
examples/pybullet/pybullet.c
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@@ -440,7 +440,8 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
command = b3InitSyncBodyInfoCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_BODY_INFO_COMPLETED)
if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
{
printf("Connection terminated, couldn't get body info\n");
b3DisconnectSharedMemory(sm);
@@ -448,7 +449,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
sPhysicsClients1[freeIndex] = 0;
sPhysicsClientsGUI[freeIndex] = 0;
sNumPhysicsClients++;
return -1;
return PyInt_FromLong(-1);
}
}
}

2
setup.py
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@@ -440,7 +440,7 @@ print("-----")
setup(
name = 'pybullet',
version='1.4.0',
version='1.4.2',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',

1
src/Bullet3Common/b3Vector3.h
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@@ -1095,7 +1095,6 @@ public:
if (m_floats[3] > maxVal)
{
maxIndex = 3;
maxVal = m_floats[3];
}
return maxIndex;

4
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -524,7 +524,7 @@ void btSoftBody::addAeroForceToNode(const btVector3& windVelocity,int nodeInde
}
else if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_Point || m_cfg.aeromodel == btSoftBody::eAeroModel::V_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
{
if (btSoftBody::eAeroModel::V_TwoSided)
if (m_cfg.aeromodel == btSoftBody::eAeroModel::V_TwoSided)
nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
const btScalar dvn = btDot(rel_v,nrm);
@@ -619,7 +619,7 @@ void btSoftBody::addAeroForceToFace(const btVector3& windVelocity,int faceInde
}
else if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_OneSided || m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
{
if (btSoftBody::eAeroModel::F_TwoSided)
if (m_cfg.aeromodel == btSoftBody::eAeroModel::F_TwoSided)
nrm *= (btScalar)( (btDot(nrm,rel_v) < 0) ? -1 : +1);
const btScalar dvn=btDot(rel_v,nrm);

1
src/LinearMath/btVector3.h
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@@ -1159,7 +1159,6 @@ public:
if (m_floats[3] > maxVal)
{
maxIndex = 3;
maxVal = m_floats[3];
}
return maxIndex;