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

examples/ExampleBrowser/main.cpp

@@ -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) {

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -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) &&
                             (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;

examples/pybullet/gym/pybullet_envs/robot_locomotors.py

@@ -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

examples/pybullet/gym/pybullet_envs/robot_pendula.py

@@ -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")

examples/pybullet/gym/pybullet_envs/scene_abstract.py

@@ -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):

examples/pybullet/pybullet.c

@@ -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);
 			}
 		}
 	}

setup.py

@@ -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',

src/Bullet3Common/b3Vector3.h

@@ -1095,7 +1095,6 @@ public:
 		if (m_floats[3] > maxVal)
 		{
 			maxIndex = 3;
-			maxVal = m_floats[3];
 		}
 
 		return maxIndex;

src/BulletSoftBody/btSoftBody.cpp

@@ -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);

src/LinearMath/btVector3.h

@@ -1159,7 +1159,6 @@ public:
 		if (m_floats[3] > maxVal)
 		{
 			maxIndex = 3;
-			maxVal = m_floats[3];
 		}
 
 		return maxIndex;