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Author SHA1 Message Date
Erwin Coumans 0b017b0f53 fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp) 
implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable.
PhysicsServer: properly restore old activation state after releasing picked object
btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
 2017-03-20 10:58:07 -07:00
erwincoumans 86bec45247 Merge pull request #1024 from erwincoumans/master 
expose video capture as logging command
 2017-03-16 11:02:58 -07:00
erwincoumans a89d3cfb95 Merge pull request #1019 from erikogenvik/kinematic_controller_initialization 
Kinematic controller initialization
 2017-03-16 10:54:41 -07:00
Erwin Coumans 3d339af98d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-03-16 09:13:55 -07:00
Erwin Coumans 59d16b2c42 expose video capture as logging command in b3RobotSimulatorClientAPI (C++) and pybullet (use STATE_LOGGING_VIDEO_MP4) 2017-03-16 09:13:33 -07:00
erwincoumans 8ce4444638 Merge pull request #1023 from erwincoumans/master 
update minitaur.py and RobotSimulator to use data/quadruped/minitaur.urdf
 2017-03-15 21:43:56 -07:00
Erwin Coumans b7b46b12d3 update RobotSimulator/MinitaurSetup to use data/quadruped/minitaur.urdf 
add b3RobotSimulatorClientAPI::getBaseVelocity and resetBaseVelocity
add b3Quaternion::getEulerZYX
 2017-03-15 17:09:17 -07:00
Erwin Coumans 4db6fa9e29 update minitaur.py to use minitaur.urdf (instead of quadruped.urdf), also sort the legs in the same order as real hardware 
added test urdf files for minitaur with all fixed joints, or fixed knees.
added some stiffness/damping to minitaur legs (testing)
tiny_obj_loader, don't crash on invalid texture coordinates
btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
 2017-03-15 15:38:50 -07:00
Erwin Coumans a613911c84 Merge remote-tracking branch 'bp/master' 2017-03-15 11:05:16 -07:00
erwincoumans 6f171f90dc Merge pull request #1015 from JulianYG/master 
Fixed shaking issue, and hopefully the offset should be gone.
 2017-03-15 09:15:00 -07:00
erwincoumans f67299de8e Merge pull request #1020 from jietan/pullRequest 
add cartpole urdf
 2017-03-14 17:06:10 -07:00
erwincoumans e46a0a2e9c Merge pull request #1018 from erwincoumans/master 
fix unreachable code
 2017-03-14 13:14:28 -07:00
erwincoumans 3b7c4d0947 Merge pull request #1017 from erwincoumans/master 
also allow absolute path in asset files (.obj, .stl, .dae etc)
 2017-03-14 10:41:09 -07:00
Erwin Coumans 3d2cb1cabf also allow absolute path in asset files (.obj, .stl, .dae etc) 2017-03-14 10:40:27 -07:00
erwincoumans 25b1293ead Merge pull request #1016 from erwincoumans/master 
Apply temporary stack-memory optimization, thanks to Jim Tilander
 2017-03-13 23:18:25 -07:00
Erwin Coumans bbefc8fe7e Apply temporary stack-memory optimization, thanks to Jim Tillander 
(old pull request 316 https://github.com/bulletphysics/bullet3/pull/316)
You can disable this in the build system, by adding preprocessor define 'BT_DISABLE_STACK_TEMP_MEMORY'
 2017-03-13 22:27:37 -07:00
erwincoumans 11975ec60b Merge pull request #259 from AlexanderPolyakov/master 
Fix for use of uninitialized variables.
 2017-03-13 21:57:03 -07:00
erwincoumans ef9afd39f7 Merge pull request #996 from iSLC/master 
Adjust thread-local local static variable syntax for MinGW/GCC.
 2017-03-13 21:52:06 -07:00
erwincoumans cbd046e87f Merge pull request #1012 from DaveeFTW/winarm-fix 
fix using SSE on non x86 targets
 2017-03-13 21:50:55 -07:00
erwincoumans 41d7ee4f89 Merge pull request #1009 from cprogrammer1994/fix-compile-warnings 
Fix some compiler warnings
 2017-03-13 21:49:28 -07:00
erwincoumans b5eb19ce2a Merge pull request #1013 from erwincoumans/master 
relax the UseTab, apply clang-format to pybullet.c
 2017-03-13 19:17:16 -07:00
erwincoumans c1c89e6fad Merge pull request #1000 from olegklimov/master 
URDF loader improvement 1
 2017-03-13 19:16:45 -07:00
erwincoumans 1a079ceb59 Merge pull request #1003 from JulianYG/master 
pybullet VR controller controls the kuka arm
 2017-03-13 18:32:48 -07:00
Erwin Coumans 901b314a1e clang-format pybullet.c 
move AccessModifierOffset to -4 (public:, private:, protected: are aligned to the left in Bullet)
 2017-03-13 16:06:52 -07:00
erwincoumans 55361a184c Merge pull request #1011 from erwincoumans/master 
clang-format style file, easier way to format according to Bullet code style (may need some tweaks)
 2017-03-13 14:13:50 -07:00
erwincoumans 6dd47d1062 Merge pull request #1010 from khansari/master 
Fixing a bug on Visualizer Camera and a few more
 2017-03-13 12:33:40 -07:00
Erwin Coumans bdaadf57e0 apply _clang-format to Bullet/src/LinearMath/btScalar.h, disable around preprocessor defines 
(issue with clang-format lacking preprocessor indentation support, see
https://bugs.llvm.org//show_bug.cgi?id=17362
and possibly apply this patch:
https://github.com/mkurdej/clang/tree/indent-pp-directives
)
 2017-03-13 11:17:42 -07:00
erwincoumans bd3009a5eb Merge pull request #1008 from jietan/pullRequest 
Thanks for the contribution!
 2017-03-10 16:24:44 -08:00
erwincoumans d3ee7f68a1 Merge pull request #1005 from erwincoumans/master 
pybullet.ER_BULLET_HARDWARE_OPENGL and ER_TINY_RENDERER exposed (for …
 2017-03-10 08:11:46 -08:00
Erwin Coumans ca31bb2bbd pybullet.ER_BULLET_HARDWARE_OPENGL and ER_TINY_RENDERER exposed (for getCameraImage, renderer=pybullet.ER_BULLET_HARDWARE_OPENGL) 
improve performance of getCameraImage when using ER_BULLET_HARDWARE_OPENGL
 2017-03-09 17:42:59 -08:00
erwincoumans 4ea9fa54bb Merge pull request #995 from YunfeiBai/master 
Bug fix: set logging unique id at initialization.
 2017-03-09 11:40:43 -08:00
erwincoumans 917b3ae0d3 Merge pull request #1002 from erwincoumans/master 
improve vrhand.py
 2017-03-08 14:17:11 -08:00
Erwin Coumans f2aa67d262 improve vrhand.py 2017-03-08 14:10:43 -08:00
erwincoumans 644e510c83 Fix Issue 997 2017-03-08 12:38:27 -08:00
erwincoumans 7ffbd35d42 Merge pull request #999 from erwincoumans/master 
update pybullet quickstart guide pdf
 2017-03-07 22:38:15 -08:00
erwincoumans 9120c176df Merge pull request #998 from erwincoumans/master 
optimize hand (hand.py, vrhand.py) MPL.xml STL meshes for better collision detection performance
 2017-03-07 19:43:28 -08:00
Erwin Coumans af295b6eed optimize hand (hand.py, vrhand.py) MPL.xml STL meshes for better collision detection performance (using Blender decimation tool) 2017-03-07 19:07:45 -08:00
erwincoumans 18fb738f80 Merge pull request #992 from taylor001/dev 
Fix warning when compiling with -Dundef on MinGW
 2017-03-07 07:37:39 -08:00
erwincoumans c1d4651eb9 Merge pull request #994 from erwincoumans/master 
typo (thanks Avik for the report!)
 2017-03-07 07:36:52 -08:00
erwincoumans 98e7519134 Update b3RobotSimulatorClientAPI.cpp 2017-03-06 18:54:52 -08:00
erwincoumans b12ccd92c8 typo (thanks Avik for the report!) 2017-03-06 18:52:52 -08:00
erwincoumans 9139151b72 Merge pull request #991 from erwincoumans/master 
fix quadruped.py, don't use 'realtime' and set timeout (in case conne…
 2017-03-05 22:41:39 -08:00
erwincoumans 0759ba1a22 Merge pull request #990 from erwincoumans/master 
improved minitaur.urdf file, see https://youtu.be/lv7lybtOzeo for a preview.
 2017-03-05 22:23:23 -08:00
erwincoumans 2c081c767c Merge pull request #988 from YunfeiBai/master 
Log time stamp and set renderer in pybullet.
 2017-03-04 15:27:00 -08:00
erwincoumans d13969854f Merge pull request #987 from pps83/master 
remove `using namespace ConvexDecomposition` from library header file
 2017-03-04 05:26:49 -08:00
erwincoumans 995a686eaf Merge pull request #986 from erwincoumans/master 
fix uninitialized value in new btMatrix3x3::diagonalize
 2017-03-03 16:03:02 -08:00
erwincoumans ea4fb7f322 Merge pull request #985 from erwincoumans/master 
fix body name in GUI more
 2017-03-03 15:03:28 -08:00
Erwin Coumans 7cb5898db6 fix body name in GUI more 
expose getBodyInfo to b3RobotSimulatorClientAPI
 2017-03-03 11:33:20 -08:00
erwincoumans 8f3ba88754 Merge pull request #983 from erwincoumans/master 
update pybullet quickstart guide from
 2017-03-02 13:28:05 -08:00
erwincoumans 211d292ea2 Merge pull request #982 from erwincoumans/master 
create premake/cmake file for Bullet/Extras/obj2sdf
 2017-03-02 12:45:13 -08:00
Erwin Coumans 34fc2fb589 create premake/cmake file for Bullet/Extras/obj2sdf 
add missing 1.sdf for Bullet/data/kitchens/1.sdf
add support for getting keyboard events (pybullet.getKeyboardEvents and b3RobotSimulatorClientAPI::getKeyboardEvents)
 2017-03-02 12:33:22 -08:00
erwincoumans 255b21a776 Merge pull request #979 from erwincoumans/master 
fix lack of collision scaling in pybullet URDF/SDF files (only graphi…
 2017-03-02 08:18:11 -08:00
erwincoumans 1ba22c7c45 Merge pull request #980 from YunfeiBai/master 
Modify logging and playback to handle fixed joint.
 2017-03-02 08:17:59 -08:00
Erwin Coumans 6a40c1cca7 pybullet expose resetDebugVisualizerCamera 
example: pybullet.resetDebugVisualizerCamera(cameraDistance=3,cameraYaw=30,cameraPitch=52,cameraTargetPosition=[0,0,0])
 2017-03-01 15:04:07 -08:00
Erwin Coumans 2f3ba49357 expose some sleep timeout pybullet.setPhysicsEngineParameter(maxNumCmdPer1ms=100) or b3PhysicsParamSetMaxNumCommandsPer1ms, 
if more commands than those are processed per millisecond, a 1ms sleep will follow, to avoid other threads being stalled.
 2017-03-01 13:48:57 -08:00
Erwin Coumans ac28f50fa5 vrhand.py first try to connect to SHARED_MEMORY if that fails use GUI fallback 2017-03-01 13:01:02 -08:00
Erwin Coumans 2eb019cdc3 Created Wavefront obj to sdf converter, to make it easier to import complex obj models with many materials. See kitchen for example. 
Fix in tinyobj, make sure material is initialized
Add fatihrmutfak kitchen model, for Virtual Reality and some research
 2017-03-01 10:06:10 -08:00
Erwin Coumans 89e8e30de6 fix lack of collision scaling in pybullet URDF/SDF files (only graphics meshes supported scaling, collision objects ignored scaling) 2017-02-28 16:30:57 -08:00
erwincoumans 413d31e77e Update README.md 2017-02-27 19:11:24 -08:00
erwincoumans 26a4414bc2 Merge pull request #977 from manmohanbishnoi/master 
Update helloworld.tex with tip on proper library link order.
 2017-02-26 10:50:24 -08:00
erwincoumans e2bdf124a1 Merge pull request #975 from erwincoumans/master 
Rewrite 'diagonalize' to use 'extractRotation', should fix Issue 846
///See http://dl.acm.org/citation.cfm?doid=2994258.2994269
tweak Minitaur/RobotSimulator, fix target value from int to double.
 2017-02-26 07:01:42 -08:00
Erwin Coumans 0131754173 Add 'extractRotation' based on "A robust method to extract the rotational part of deformations" 
///See http://dl.acm.org/citation.cfm?doid=2994258.2994269
Rewrite 'diagonalize' to use 'extractRotation', should fix Issue 846
 2017-02-25 16:57:18 -08:00
Erwin Coumans 88aa9e899e tweak Minitaur/RobotSimulator, fix target value from int to double 2017-02-24 21:40:43 -08:00
erwincoumans 77538b04c2 Update PhysicsServerCommandProcessor.cpp 2017-02-24 16:01:18 -08:00
erwincoumans 929eb49029 Merge pull request #974 from erwincoumans/master 
expose timeout in pybullet/shared memory API
 2017-02-24 15:50:26 -08:00
Erwin Coumans a4f1e34899 expose timeout in pybullet/shared memory API 
add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
 2017-02-24 15:34:11 -08:00
erwincoumans f15722ffb1 Merge pull request #973 from erwincoumans/master 
allow to compile/run 64bit version of VR, co-exist of 64bit and 32bit openvr_api.dll
 2017-02-22 17:38:27 -08:00
Erwin Coumans bb11884f89 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-02-22 15:50:34 -08:00
Erwin Coumans 0b27edf172 allow to compile/run 64bit version of VR lib, workaround for issue that both 32bit and 64bit version is called openvr_api.dll 
Now 64bit version is called openvr64pi.dll (patched the 64bit binary library openvr_api.lib)
See also https://github.com/ValveSoftware/openvr/issues/412
 2017-02-22 15:50:09 -08:00
erwincoumans 3e1710d48e Merge pull request #972 from YunfeiBai/master 
Modify controller constraint in the pybullet vr gripper setup.
 2017-02-22 14:40:55 -08:00
erwincoumans b452689ccf Merge pull request #971 from YunfeiBai/master 
A bug fix for logging the orientation of the base of the object.
 2017-02-22 13:39:45 -08:00
erwincoumans ecfae44441 Update README.md 2017-02-22 12:35:24 -08:00
erwincoumans e991234821 Update README.md 2017-02-22 12:34:02 -08:00
erwincoumans 8fd8d5151f Merge pull request #970 from erwincoumans/master 
pybullet, physics-server version check, small cleanup of build scripts, use b3Clock RTC timeout instead of 1024*1024*1024 iterations,
 2017-02-22 12:00:59 -08:00
Erwin Coumans bd30ba30ce Replace large timeout (1024*1024*1024) using real-time clock timeout (10 seconds default) 
Change SHARED_MEMORY_MAGIC_NUMBER to make sure server/client are using the same version (shared memory)
add --realtimesimulation to physics server (GUI, VR)
remove --G Xcode from build_cmake_pybullet_double.sh
 2017-02-22 09:33:30 -08:00
Erwin Coumans 35b92c43d3 remove some standalone-example from the premake build (re-enable using option --standalone-examples 
move PhysicsServer and PhysicsClient into Physics Server-Client in its own ExampleBrowser section (out of Experiments)
 2017-02-22 06:13:32 -08:00
Erwin Coumans 7a9c144efc remove 'run' from script name. 2017-02-22 05:40:08 -08:00
Erwin Coumans bdf08335ee Remove a few build scripts, to focus on the main script with pybullet, double precision enabled by default, in addition VR for MSVC. 2017-02-22 05:38:03 -08:00
erwincoumans 4c5958af1a Merge pull request #969 from erwincoumans/master 
allow to enable/disable GUI, shadows, wireframe etc of OpenGL Visualizer from pybullet/shmem
 2017-02-22 05:09:08 -08:00
Erwin Coumans bf5f78f35a decouple some dependency using a callback. 2017-02-21 19:28:49 -08:00
erwincoumans 61f05c7330 Update PhysicsServerCommandProcessor.cpp 2017-02-21 13:28:43 -08:00
erwincoumans c1d5f2357a Merge pull request #968 from erwincoumans/master 
update pybullet quickstart guide
 2017-02-21 10:24:59 -08:00
erwincoumans 29772fc3b4 Merge pull request #965 from jietan/pullRequest 
Pull request
 2017-02-21 05:10:01 -08:00
erwincoumans 07bd911c36 Merge pull request #966 from erwincoumans/master 
add tiny clsocket cross-platform TCP  library, update pybullet PDF doc
 2017-02-20 21:17:22 -08:00
erwincoumans bdcd474777 Merge pull request #967 from YunfeiBai/master 
Generic robot state logging
 2017-02-20 21:17:00 -08:00
Erwin Coumans 942015df9d use TCP in main thread, accumulate bytes until size matches. 2017-02-20 18:54:12 -08:00
Erwin Coumans 970de9c4d7 tcp echo/query test setup 2017-02-20 09:34:00 -08:00
Erwin Coumans 3e94840340 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-02-19 12:09:12 -08:00
Erwin Coumans 3faab1b019 adjusted clsocket build and test, so there is an EchoServer and QueryDayTime sending a string to the EchoServer. 2017-02-19 12:08:58 -08:00
Erwin Coumans 4faa6613c9 first draft of premake/cmake build files for clsocket (tiny cross-platform TCP socket library) 2017-02-19 11:48:01 -08:00
Erwin Coumans 957266b121 add tiny cross-platform TCP socket library from https://github.com/DFHack/clsocket 
(todo: hook-up to Bullet cmake/premake build systems, and implement TCP alternative for UDP server)
 2017-02-19 10:25:55 -08:00
erwincoumans 45aa392a28 Update PhysicsServerCommandProcessor.cpp 2017-02-17 15:43:38 -08:00
erwincoumans 6784cff23a Merge pull request #964 from erwincoumans/master 
initial implementation of state logging
 2017-02-17 15:39:46 -08:00
erwincoumans 8af62239b0 Update pybullet.c 2017-02-17 15:15:13 -08:00
Erwin Coumans cfd35840f0 initial implementation of state logging. 
see examples/pybullet/logMinitaur.py for example. Other state logging will include general robot states and VR controllers state.
 2017-02-17 14:25:53 -08:00
Erwin Coumans 2b27ab2463 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-02-17 10:48:03 -08:00
Erwin Coumans 34c3fca8d5 prepare state logging system (log state of robot, vr controllers after each stepSimulation) 2017-02-17 10:47:55 -08:00
erwincoumans 835dea5c3f Merge pull request #963 from erwincoumans/master 
disable keyboard toggle in Linux/X11, revert num solver iterations to 50 (from 150)
 2017-02-16 15:58:23 -08:00
erwincoumans 904a1b5f05 Merge pull request #962 from erwincoumans/master 
VR recording, URDF importer, manyspheres.py etc
 2017-02-16 14:47:42 -08:00
Erwin Coumans 65deeee64b add optimized tray/traybox.urdf 2017-02-16 14:29:51 -08:00