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Erwin Coumans 0511a36a67 add Laikago quadruped model, thanks to Unitree for the cad meshes. 
If you use the Laikago URDF, please add a citation to PyBullet:

@MISC{coumans2018,
author =   {Erwin Coumans and Yunfei Bai},
title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
howpublished = {\url{http://pybullet.org}},
year = {2016--2018}
}
 2018-10-26 18:49:58 -07:00
Erwin Coumans f1ac24cc60 make pybullet setup.py use threadsafe version by default 2018-10-26 18:37:28 -07:00
erwincoumans a44df2b0a6 PyBullet: allow to pass vertices (for convex) and vertices+indices (for concave) to createCollisionShape 
See createObstacleCourse.py for an example use. At the moment a limit of 1024 vertices and 1024 indices.
Will be lifted once we implement the streaming version (soon).
 2018-10-26 10:18:51 -07:00
erwincoumans 9c1db5fb34 Merge pull request #1948 from erwincoumans/master 
fix sphere sdf parsing
 2018-10-22 16:02:44 -07:00
erwincoumans 707bac9c3d fix sphere sdf parsing 2018-10-22 16:01:58 -07:00
erwincoumans 9090442f83 Merge pull request #1945 from erwincoumans/master 
PyBullet/BulletRobotics: increase max #degree of freedom from 128 to …
 2018-10-22 08:06:06 -07:00
Erwin Coumans 84870739af Merge remote-tracking branch 'bp/master' 2018-10-22 08:03:47 -07:00
Erwin Coumans a198459b09 reduce back to 128, some internal build has too limited stack size. 2018-10-22 07:40:45 -07:00
erwincoumans 7e86a579e9 Merge pull request #1946 from RanTig/transform-changed-notification-active 
Uses btCollisionBody::isActive instead of btMultiBody::isAwake to determine whether to send transform changed notifications.
 2018-10-22 07:36:13 -07:00
Tigran Gasparian 6512a67422 Uses btCollisionBody::isActive instead of btMultiBody::isAwake to 
determine whether to send transform changed notifications.
 2018-10-22 14:06:58 +02:00
erwincoumans c291fe5584 PyBullet/BulletRobotics: increase max #degree of freedom from 128 to 256. 2018-10-21 20:05:29 -07:00
erwincoumans 04101565bc Merge pull request #1944 from erwincoumans/master 
revert backward compabitility in API
 2018-10-20 20:45:48 -07:00
Erwin Coumans 2d224cf319 revert backward compabitility in API 2018-10-20 19:44:39 -07:00
erwincoumans df0889a450 Merge pull request #1943 from erwincoumans/master 
fix PyBullet.changeVisualShape to allow clearing a texture (use -1 for textureUniqueId)
 2018-10-20 17:45:20 -07:00
erwincoumans 01a8a36933 fix example 2018-10-20 16:13:48 -07:00
erwincoumans ed49edc1af PyBullet change API (since it was broken): pybullet_changeVisualShape with textureUniqueId ==-1 will clear the texture 
b3InitUpdateVisualShape doesn't take textureUniqueId by default. new API b3UpdateVisualShapeTexture to change texture (-1 will clear texture)
PyBullet/BulletRobotics: allow to reset the textureUniqueId to -1, to clear a texture
PyBullet/BulletRobotics: save all texture handles
 2018-10-20 15:56:56 -07:00
Erwin Coumans 9a9386b6a7 allow empty filename in CNS fileIO 2018-10-20 14:16:31 -07:00
erwincoumans 3d01a8c098 Merge pull request #1942 from erwincoumans/master 
add missing file in MANIFEST.in,  fix potential memory leak in InMemoryFileIO, bump up PyBullet version
 2018-10-20 12:25:50 -07:00
Erwin Coumans dc2d54df2c remove 32bit build ARCH from xcode4 generated files (premake4) 
optimization in btMultiBody::fillConstraintJacobianMultiDof:
only compute links between current link and root
 2018-10-20 10:44:43 -07:00
erwincoumans 63784dab5f Update NN3DWalkersTimeWarpBase.h 
Fix issue #1940, see https://github.com/bulletphysics/bullet3/issues/1940
 2018-10-17 20:08:06 -07:00
Erwin Coumans eb490351ec bump up PyBullet version to 2.3.2 2018-10-16 19:04:49 -07:00
Erwin Coumans d3a2f82740 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-16 19:04:12 -07:00
Erwin Coumans e776408c19 add missing file to MANIFEST.in, bump up PyBullet version 2018-10-16 19:03:24 -07:00
erwincoumans 399ff55153 fix typo in previous commit 2018-10-16 19:02:12 -07:00
erwincoumans 8825b39f6c fix potential memory leak in previous commit related to InMemoryFileIO class. 2018-10-16 18:31:17 -07:00
erwincoumans 79f6cc901e Merge pull request #1935 from erwincoumans/master 
fix fileIO issue with \r\n in lines
 2018-10-14 16:48:22 -07:00
erwincoumans b0a3b1b962 add missing header <string.h> 2018-10-14 15:12:53 -07:00
erwincoumans b5e475aec3 enable planar reflection in MinitaurGymEnv 
enable follow cam in other Gym locomotion environments
add testing assets for multi-material obj files -> sdf conversion.
Also use ER_NO_SEGMENTATION_MASK flag for TinyRenderer/EGL plugin renderer
 2018-10-14 15:10:19 -07:00
erwincoumans c1e20c448f Implement InMemoryFile for memory caching for fileIO plugin. 
Support SDF loading through fileIO plugin.
Replace strcspn by C code (not crossplatform)
Add flag for loadURDF to use color from MTL file (instead from URDF link material)
pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL and pybullet.URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL
 2018-10-14 12:54:34 -07:00
erwincoumans 3309ce8f6a strip \r \n from line 2018-10-13 16:23:58 -07:00
Erwin Coumans fd3d292fcf tinyRenderer, remove both \r and \n, not just \n 2018-10-13 11:46:46 -07:00
erwincoumans 11ef1bf0cd Merge pull request #1929 from erwincoumans/master 
allow to provide rayCastBatch in local 'from'/'to' with a parent/link…
 2018-10-11 18:14:20 -07:00
Erwin Coumans c441a9469c enable fileIOPlugin and loading from zipfile in PyBullet, 
bump up to version 2.3.0
 2018-10-11 17:44:54 -07:00
erwincoumans ad10da57c5 more initial work on fileIOPlugin 2018-10-11 17:00:17 -07:00
erwincoumans a24c1436af state 2 of FileIO plugin: adding/removing FileIO types, search through all registered FileIO types. 
(not enabled by default yet)
Example:
fileIO = p.loadPlugin("fileIOPlugin")
print("fileIO=",fileIO)
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/plane.zip", [p.AddFileIOAction,p.ZipFileIO])
p.executePluginCommand(fileIO,"e:/develop/bullet3/data/test2.zip", [p.AddFileIOAction,p.ZipFileIO])
planeId = p.loadURDF("plane.urdf")
duckId = p.loadURDF("duck_vhacd.urdf",[0,0,1])
 2018-10-11 14:39:31 -07:00
erwincoumans f792a5951a move zipfFileIO into own header 
route loadTextureFile from fileIO plugin
fix B3_ENABLE_FILEIO_PLUGIN logic
 2018-10-11 10:58:14 -07:00
Erwin Coumans 3861266a6d Merge remote-tracking branch 'bp/master' 2018-10-10 23:41:55 -07:00
erwincoumans bb305c6ebc allow to provide rayCastBatch in local 'from'/'to' with a parent/link index, b3RaycastBatchSetParentObject 
If parentObjectUniqueId provided, convert local from/to into world space coordinates
AddUserDebugLins: don't block when replacing an item
Fix examples/pybullet/examples/inverse_kinematics.py
 2018-10-10 23:31:50 -07:00
erwincoumans d6b50d3bcc Merge pull request #1927 from erwincoumans/master 
backward compatibility fix
 2018-10-09 21:45:48 -07:00
Erwin Coumans 32b5c88d4b close the fileIO for urdf loading 2018-10-09 20:45:17 -07:00
Erwin Coumans 5f954e2496 backward compatibility fix 2018-10-09 16:25:32 -07:00
erwincoumans 03461a0d1f Merge pull request #1922 from erwincoumans/master 
First pass of load files through an interface (to allow loading from …
 2018-10-09 11:14:40 -07:00
Erwin Coumans 74fca2418b fix egl plugin build, with fileIO changes 2018-10-09 08:00:31 -07:00
Erwin Coumans 295732149f add missing stdio.h 2018-10-09 07:01:02 -07:00
erwincoumans dba239fe8d First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface. 
A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory.
Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h
Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
 2018-10-08 21:27:08 -07:00
erwincoumans a1543714f1 Merge pull request #1919 from erwincoumans/master 
btMultiBody: fix indexing issue causing wrong friction to be reported, remove obsolete BT_PYBULLET_GRPC and PYBULLET_EGL
 2018-10-06 19:02:09 -07:00
erwincoumans 332cbfa609 fix typo in previous commit 2018-10-06 18:37:51 -07:00
erwincoumans c2486bb1a6 add contactFriction.py example 2018-10-06 15:27:56 -07:00
erwincoumans c0e38cd921 Merge pull request #1896 from jviereck/jviereck_add_lateral_contact_info 
Adding support for lateral friction to getContactPoints()
 2018-10-06 15:27:14 -07:00
erwincoumans 71d4a90c98 btMultiBody: fix indexing issue causing wrong friction to be reported (has no effect, since we don't use warmstarting for multibody) 2018-10-06 15:25:22 -07:00
erwincoumans 8765c0a027 Merge remote-tracking branch 'bp/master' 2018-10-06 13:18:22 -07:00
Erwin Coumans da2ee638ef remove obsolete BT_PYBULLET_GRPC and PYBULLET_EGL 2018-10-05 21:47:13 -07:00
erwincoumans cb55094a11 Merge pull request #1918 from erwincoumans/master 
fix depth image, setRGBA color and projective texture for eglPlugin, also  add getCameraImageTest.py to compare various render modes.
 2018-10-05 21:36:40 -07:00
bla 83c3094086 Merge remote-tracking branch 'bp/master' 2018-10-05 19:42:26 -07:00
Erwin Coumans 90f002e07d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-05 19:41:10 -07:00
Erwin Coumans 8a0d96edce tweaks in pybullet/examples for Mac OSX 2018-10-05 19:40:52 -07:00
erwincoumans 9a7cc7bcd7 add getCameraImageTest.py to compare GUI (with OpenGL3 GLInstancingRenderer), TinyRenderer and DIRECT+eglPlugin (with OpenGL3 GLInstancingRenderer) 2018-10-05 19:31:03 -07:00
erwincoumans 2c13e70d1a make projective textures work in DIRECT+eglPlugin (see examples/pybullet/examples/projective_texture.py) 2018-10-05 19:24:44 -07:00
erwincoumans 111ffc784d Use 2560x2048 as default window/framebuffer size for eglPlugin. 2018-10-05 18:28:37 -07:00
erwincoumans 40d7e292f2 fix depth image for eglPlugin, also fix setRGBA color for eglPlugin. 2018-10-05 18:25:51 -07:00
erwincoumans 67954a873e Merge pull request #1917 from erwincoumans/master 
reverse ER_SEGMENTATION_MASK to ER_NO_SEGMENTATION_MASK so segmentation
 2018-10-04 18:41:16 -07:00
Erwin Coumans 24ca5afe95 reverse ER_SEGMENTATION_MASK to ER_NO_SEGMENTATION_MASK so segmentation 
mask is rendered by default
 2018-10-04 14:14:24 -07:00
erwincoumans 62016a785b Merge pull request #1915 from WenlongLu/create_status 
Fix a memory leak when removing collision shape
 2018-10-02 12:18:32 -07:00
Wenlong Lu 24f5b819cf fix a memory leak 2018-10-02 10:58:23 -07:00
erwincoumans db6f35b88a Merge pull request #1914 from erwincoumans/master 
removed flags from loadURDF command. The flags are already available …
 2018-10-02 08:42:09 -07:00
erwincoumans 8aff1fbd49 removed flags from loadURDF command. The flags are already available in m_data->m_flags in BulletUrdfImporter.cpp 2018-10-02 08:39:47 -07:00
erwincoumans e668eee028 Merge pull request #1913 from erwincoumans/master 
add glViewport after startRendering
 2018-10-02 08:17:12 -07:00
bla 0f8b8388a6 eglPlugin, one more fix, remove graphics instances at resetAll 2018-10-02 08:13:51 -07:00
bla ae93c0878d bump up pybullet version to 2.2.7 (fixing egl/segmask took a few iterations) 2018-10-02 07:51:09 -07:00
erwincoumans da37f1d559 add glViewport after call to startRendering (some renderers call glViewport) 2018-10-02 07:49:13 -07:00
bla 1609f7da4c bump up pybullet version again 2018-10-01 18:54:35 -07:00
erwincoumans c9bd997acf Merge pull request #1910 from WenlongLu/create_status 
Two minor updates for PhysicsServerCommandProcessor
 2018-10-01 18:53:13 -07:00
erwincoumans a86db9c8c6 Merge pull request #1911 from erwincoumans/master 
fix EGL issue related to glViewport in startRender method
 2018-10-01 18:52:23 -07:00
bla 7cd962467e fix EGL issue related to glViewport in startRender method 2018-10-01 18:51:02 -07:00
Wenlong Lu 085984f003 update complete status for removing collision shape 2018-10-01 17:54:23 -07:00
Wenlong Lu 167520a5e6 pass plane constant 2018-10-01 17:38:24 -07:00
erwincoumans 6b63e81829 Merge pull request #1907 from erwincoumans/master 
scaling striding is 4 (scaling+object uid) instead of 3,
 2018-09-30 21:18:07 -07:00
erwincoumans bfafd9b0ae Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-30 20:02:32 -07:00
erwincoumans 6d89413336 scaling striding is 4 (scaling+object uid) instead of 3, also for transparent objects 2018-09-30 20:02:12 -07:00
erwincoumans 0ffa9a97bd scaling striding is 4 (scaling+object uid) instead of 3, also for transparent objects 2018-09-30 19:52:19 -07:00
erwincoumans 95d5da1cd9 Merge pull request #1906 from erwincoumans/master 
apply clang-format (on Mac, slightly different than running it on Win…
 2018-09-30 11:44:45 -07:00
Erwin Coumans 42ae4e81a8 apply clang-format (on Mac, slightly different than running it on Windows) 2018-09-30 11:43:57 -07:00
erwincoumans 85da5e922d Merge pull request #1905 from erwincoumans/master 
PyBullet Allow OpenGL/EGL hardware to render segmentation mask. Much faster OpenGL/EGL rendering for small images, resize glViewport
 2018-09-30 07:53:08 -07:00
erwincoumans 5bcd43711a PyBullet OpenGL/EGL hardware getCameraImage: use glViewport to reduce the glReadPixels calling cost dramatically for small images 
PyBullet Allow OpenGL/EGL hardware to render segmentation mask. Use pybullet.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX or pybullet.ER_SEGMENTATION_MASK
PyBullet.removeBody fix indexing bug (use foundIndex, not i)
PyBullet bump up version to 2.2.3
 2018-09-30 07:10:40 -07:00
erwincoumans 254edb61cb Merge remote-tracking branch 'bp/master' 2018-09-29 10:35:01 -07:00
erwincoumans 00ed0dce24 Merge pull request #1900 from crewmatt/master 
Update URDF Importer to process Sensor elements.
 2018-09-28 17:06:27 -07:00
erwincoumans 39bca74041 Merge remote-tracking branch 'bp/master' 2018-09-28 10:14:45 -07:00
erwincoumans df78380718 Merge pull request #1899 from WenlongLu/master 
Add const qualifiers to the double [] inputs in PhysicsClientC_API
 2018-09-26 19:11:53 -07:00
Wenlong Lu 8cdb514ffb missed one 2018-09-26 17:46:39 -07:00
Wenlong Lu 2681f5cd9f add const qualifiers to all double* inputs in PhysicsClientC_API 2018-09-26 17:24:40 -07:00
Wenlong Lu 3c0e57e025 add const qualifier to double [] inputs 2018-09-26 15:02:22 -07:00
Erwin Coumans cd2f111a10 update pybullet version, include *.* from OpenGLWindow 2018-09-25 17:06:32 -07:00
Erwin Coumans f20b7bb07c tweak pole IK demo 2018-09-25 06:22:06 +00:00
erwincoumans 180a9f5103 Merge pull request #1897 from erwincoumans/master 
Fix eglPlugin
 2018-09-24 08:07:26 -07:00
erwincoumans c1ba89a01c Fix eglPlugin 2018-09-24 08:06:28 -07:00
Julian Viereck 219dfc757a Adding support for lateral friction to getContactPoints() 2018-09-24 10:03:43 -04:00
erwincoumans cdd56e4641 Merge pull request #1895 from erwincoumans/master 
Code-style consistency improvement: _clang-format applied
 2018-09-23 19:22:09 -07:00
erwincoumans ab8f16961e Code-style consistency improvement: 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
 2018-09-23 14:17:31 -07:00
erwincoumans d54c8395ac Merge pull request #1882 from lucasw/patch-1 
Spelling fix: on-way -> one-way
 2018-09-22 14:59:48 -07:00
erwincoumans cff111ba04 Merge pull request #1894 from erwincoumans/master 
allow to disable self-collision for a link-pair, only enable eglPlugin for Linux (disable eglPlugin for Win/Mac)
 2018-09-22 14:59:08 -07:00