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Author SHA1 Message Date
Erwin Coumans 150a6a0880 Qualify calls to certain functions from the cmath library. 2019-03-14 16:57:50 -07:00
Erwin Coumans 1161a04c56 Merge remote-tracking branch 'bp/master' 2019-03-13 09:52:38 -07:00
erwincoumans 18918389d3 Merge pull request #2145 from fuchuyuan/addExample 
Add example
 2019-03-12 11:06:53 -07:00
erwincoumans 46e43e0051 Merge remote-tracking branch 'bp/master' 2019-03-12 09:13:51 -07:00
Erwin Coumans 0caf51a54e btBlockSolver use m_data2 instead of m_data 2019-03-11 17:52:55 -07:00
Chuyuan Fu bea2f6e65a Turn off self-collision for FixJointBoxes example 2019-03-11 13:12:49 -07:00
erwincoumans d56b136155 Merge pull request #2154 from dambem/patch-1 
Fixing issue where mass of motors is uneven
 2019-03-10 21:38:34 -07:00
Damian Bemben b027bc92df Fixing issue where mass of motors is uneven 
Mass of motors was being tilted to the left, due to FL hip motor and RL hip motor having a mass of 1.095 and FR hip motor and BR hip motor having a mass of 0.241. This led to issues with the laikago tilting. May require further investigation to see if the laikago is at the proper center of mass!
 2019-03-10 22:41:40 +00:00
erwincoumans 31ce4e0e57 Merge pull request #2153 from erwincoumans/master 
expose maxJointVelocity through PyBullet.changeDynamics, fix mouse wheel multiplier
 2019-03-09 09:25:05 -08:00
erwincoumans 4ea907aacf expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 
bump up PyBullet to version 2.4.8
 2019-03-09 09:23:16 -08:00
Chuyuan Fu 81ab8cd1c6 another fix 2019-03-08 14:21:18 -08:00
Chuyuan Fu fa2368c6d6 Try to fix tests 2019-03-08 13:50:12 -08:00
erwincoumans 32e93d9f91 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-08 09:20:32 -08:00
Erwin Coumans b1465c8205 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-03-08 07:44:21 -08:00
Erwin Coumans 58c638d5ee tweak mouse wheel multiplier 2019-03-08 07:43:50 -08:00
Erwin Coumans b072f2fdc8 bump up PyBullet version to 2.4.7 2019-03-07 22:05:15 -08:00
erwincoumans 2b5eabef18 Merge pull request #2147 from erwincoumans/master 
Expose anisotropic friction, add snake demo. Simple snake slither loc…
 2019-03-07 22:04:28 -08:00
erwincoumans 9408e4f2d0 Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-07 21:13:00 -08:00
fuchuyuan 2908bd9641 Merge branch 'master' into addExample 2019-03-07 19:59:48 -08:00
erwincoumans c1e1a0f37b Merge pull request #2146 from erwincoumans/master 
use b3RobotJointInfo instead of b3JointInfo, so it is initialized.
 2019-03-07 17:56:54 -08:00
erwincoumans d7b54b0265 use b3RobotJointInfo instead of b3JointInfo, so it is initialized. 
don't reset the camera in SharedMemoryInProcessPhysicsC_API
 2019-03-07 17:55:45 -08:00
Chuyuan Fu 2fb12400ac Add urdf file for examples/BulletRobotics/JointLimit.cpp 2019-03-07 17:29:36 -08:00
Chuyuan Fu 1660957f75 Untrack Grasp box example for now. This example needs more adjustment. 
fix compile
 2019-03-07 17:10:16 -08:00
Chuyuan Fu e818452494 Add grasp box example and fixjoint boxes example. 
tmp

gripper is working?

fix joint example
 2019-03-07 17:10:16 -08:00
Chuyuan Fu 9141caf67e Add joint limit example. 
The demo artifically exceeds joint limit due to numerical errors caused
by large ratio.
 2019-03-07 17:09:32 -08:00
Chuyuan Fu 5d60c274c4 Add an example of a stack of boxes of large mass ratio. The default 
solver cannot solve it effectively.
 2019-03-07 17:08:16 -08:00
fuchuyuan b347d9f667 Merge pull request #2 from bulletphysics/master 
sync with upstream
 2019-03-07 17:03:33 -08:00
erwincoumans ba61c0911f Merge pull request #2144 from erwincoumans/master 
reduce size of SharedMemoryStatus
 2019-03-07 08:31:01 -08:00
erwincoumans b94a55ee5f Merge remote-tracking branch 'bp/master' 2019-03-06 23:29:29 -08:00
erwincoumans 0af0f193ee reduce size of SharedMemoryStatus by moving state details into shared memory streaming block. 2019-03-06 23:27:59 -08:00
erwincoumans 4d39b7caca Merge pull request #2142 from fuchuyuan/fixedJoint 
Fixed joint
 2019-03-06 22:03:00 -08:00
erwincoumans a9e350b0fb Merge pull request #2141 from erwincoumans/blocksolver 
solver experiment
 2019-03-06 22:02:44 -08:00
Chuyuan Fu 8b5a238b2f Add boxes joint by fixed joint example\n Onlyp2p joint works 2019-03-06 13:47:49 -08:00
fuchuyuan 1dbbccd4a9 Merge pull request #1 from bulletphysics/master 
update to upstream changes
 2019-03-04 13:32:13 -08:00
erwincoumans 4c37558805 Merge pull request #2138 from erwincoumans/master 
Implement 'cone friction' for the rolling friction, to avoid curved t…
 2019-03-03 20:56:12 -08:00
erwincoumans 04441a29cc Implement 'cone friction' for the rolling friction, to avoid curved trajectories for contact with rolling friction enabled. 
(and separate spinning friction from rolling friction)
Fixes Issue 2117
 2019-03-03 17:10:01 -08:00
erwincoumans 0c1faf18b8 Merge pull request #2137 from erwincoumans/master 
fix regression in MJCF import for TinyRenderer, apply mouse move multiplier
 2019-03-03 12:16:10 -08:00
erwincoumans d07c86842c fix regression in MJCF import for TinyRenderer 
Fixes Issue 2119
https://github.com/bulletphysics/bullet3/issues/2119
 2019-03-03 12:01:49 -08:00
erwincoumans 23dd0b50f9 apply mouse move multiplier 2019-03-03 11:35:30 -08:00
erwincoumans fb742e4530 Merge pull request #2136 from erwincoumans/master 
fix issue with retina scale and picking in createVisualShape.py example, meshScale issue
 2019-03-02 15:14:06 -08:00
Erwin Coumans bd0501d3fc fix example meshScale 2019-03-02 12:11:59 -08:00
Erwin Coumans 3997ac2b61 fix issue with retina scale and picking in createVisualShape.py example 2019-03-02 12:08:25 -08:00
erwincoumans 1bac759a43 Update fileIOPlugin.cpp 
fix check for (zip) file filename
 2019-03-01 07:43:06 -08:00
erwincoumans f51555d1ab Merge pull request #2134 from erwincoumans/physx_clean 
PhysX backend update
 2019-02-28 22:49:43 -08:00
erwincoumans ba6c1d68bf Merge pull request #2133 from bulletphysics/erwincoumans-patch-5 
Update UrdfParser.cpp
 2019-02-28 22:49:20 -08:00
erwincoumans 4d711ed411 Merge remote-tracking branch 'origin/physx' into physx_clean 2019-02-28 17:52:59 -08:00
erwincoumans 2ae6404d1e Update UrdfParser.cpp 
update warning to be more verbose
 2019-02-28 17:29:12 -08:00
erwincoumans 893b46ce14 apply mouse_move_multiplier and mouse_wheel_multiplier 2019-02-28 17:13:51 -08:00
erwincoumans 208b38c51f Merge pull request #2132 from Pandhariix/master 
Retrieve rayTestBatch data without having to display debug lines
 2019-02-28 10:20:59 -08:00
Pandhariix 4801425910 Use the correct structure in the PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand method 2019-02-28 18:24:32 +01:00
erwincoumans 36a9dcf368 remove src/BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.cpp and examples/ConstraintSolvers/* code 
revert changes to btMultiBodyConstraintSolver/btSequentialImpulseConstraintSolver related to btMultiBodyBlockConstraintSolver
 2019-02-27 17:10:17 -08:00
erwincoumans 48d84e7899 revert experiment not passing the constraint solver back down from btMultiBodyDynamicsWorld to btDiscreteDynamicsWorld. 2019-02-27 16:00:56 -08:00
erwincoumans ad4efa4265 Merge pull request #2129 from dictoon/master 
Fix crash in btGImpactMeshShape vs btBvhTriangleMeshShape
 2019-02-27 11:55:35 -08:00
erwincoumans dfa66864a3 Merge pull request #2130 from erwincoumans/master 
Expose motor drive torque reporting for motors in spherical joints
 2019-02-27 11:53:06 -08:00
erwincoumans 2ae03f50b1 revert to original humanoidMotionCapture.py example. Add a showJointMotorTorques variable (false by default) 2019-02-27 10:01:54 -08:00
erwincoumans 8e1c1448ab Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof. 2019-02-27 09:54:12 -08:00
Francois Beaune 649a7d0981 Fix crash in btGImpactMeshShape vs btBvhTriangleMeshShape 2019-02-27 10:41:54 +01:00
erwincoumans d7e087de16 prepare small experiment with block solver 2019-02-26 23:27:05 -08:00
erwincoumans c44471c38c preparation for block solver btRigidBody. 2019-02-26 20:24:15 -08:00
erwincoumans ebc079c32c Merge pull request #1902 from cloudwu/fixmingwbuild 
fix mingw build
 2019-02-26 10:20:06 -08:00
erwincoumans 09dbb8ba1b Merge pull request #2122 from waveform80/parallelism-for-the-memory-challenged 
Limit compilation parallelism
 2019-02-26 09:10:24 -08:00
erwincoumans 70a9d34dc1 Merge pull request #2126 from erwincoumans/master 
replace deep_mimic policies by versions trained using PyBullet, backf…
 2019-02-25 15:55:37 -08:00
Erwin Coumans 03e897d1f5 replace deep_mimic policies by versions trained using PyBullet, backflip works better now. 2019-02-24 20:12:18 -08:00
erwincoumans a9996088c8 Implement PyBullet.getCameraImage for PhysX backend. 
PhysX backend, allow arbitrary plane normal, a few other fixes.
 2019-02-24 14:09:42 -08:00
erwincoumans 9ecc1cc485 Implement CustomProfilerCallback, hooking up to Bullet profiling 
test dominoes
 2019-02-22 09:17:55 -08:00
erwincoumans 71b1191947 texture caching and geometry caching (PhysX) for much faster loading of many same objects, helps benchmarking/comparison. 
add command-line args for PhysX (numCores=..., solver=tgs, )
 2019-02-21 19:24:18 -08:00
erwincoumans 3bf27cf8f2 implement rudimentary contact callback. Does PhysX have a way to report ALL contact points, every frame, so we can update contact forces etc, and report all contacts? 2019-02-20 21:38:37 -08:00
erwincoumans adf31c8f64 remove PhysXClient.*, it was not needed (use PhysicsDirect instead) 2019-02-20 19:57:10 -08:00
erwincoumans 6d224996ef update to latest PhysX version. 
fix handling commands that are not implemented yet
 2019-02-20 19:43:23 -08:00
Dave Jones 7b5f81958a Limit compilation parallelism 
On smaller platforms like the Raspberry Pi, which have a deficit of
physical memory, the default algorithm for determining compilation
parallelism is far too optimistic and usually results in crashing the
platform.

This modification limits the number of parallel jobs to the size of RAM
in Gb. On a mid-size PC (e.g. quad-core with 8+Gb of RAM), this will
make no difference. On a Pi (quad-core with 1Gb of RAM), this will limit
it to 1 job at a time (which is ideal).
 2019-02-20 22:52:29 +01:00
erwincoumans fd161fa061 Merge pull request #2116 from erwincoumans/master 
various fixes
 2019-02-18 19:18:21 -08:00
Erwin Coumans 127cde6ec7 bump up to PyBullet 2.4.5 2019-02-18 19:11:42 -08:00
Erwin Coumans 6d2ed912f5 Merge remote-tracking branch 'bp/master' 2019-02-18 19:11:03 -08:00
erwincoumans 33619893c7 fixed failed git merge 2019-02-18 18:34:11 -08:00
erwincoumans 7e5ac33cf1 Merge pull request #2105 from Somedaywilldo/master 
Add Human3.6M Support for deep_mimic Environment
 2019-02-18 18:07:47 -08:00
erwincoumans bdf9b10246 more work on pybullet_envs.deep_mimic. 
allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.
 2019-02-18 17:57:02 -08:00
erwincoumans dc8a40f7dc PyBullet: fix issue with setCollisionFilterGroupMask 2019-02-17 12:02:52 -08:00
Erwin Coumans 10e559f7aa Merge branch 'physx' of https://github.com/erwincoumans/bullet3 into physx 2019-02-15 08:11:05 -08:00
Erwin Coumans 80ef56cfca add missing header 2019-02-15 08:10:24 -08:00
Erwin Coumans 43aafbe892 branch with experimental PyBullet support for PhysX 
see otherPhysicsEngine in examples/pybullet/examples folder for example usage
 2019-02-15 08:10:23 -08:00
Erwin Coumans 225d823e4d bump up pybullet version 2019-02-13 17:10:01 -08:00
Erwin Coumans f166ca88ea Merge remote-tracking branch 'bp/master' 2019-02-13 17:09:27 -08:00
Erwin Coumans d533f19d54 add missing header 2019-02-13 15:11:34 -08:00
Erwin Coumans f6f9de12af branch with experimental PyBullet support for PhysX 
see otherPhysicsEngine in examples/pybullet/examples folder for example usage
 2019-02-13 14:57:11 -08:00
erwincoumans a38093ad61 deal properly with resize/retina in eglPlugin/eglRendererVisualShapeConverter 2019-02-13 14:43:39 -08:00
erwincoumans b410e44137 fix path issue with URDF2PhysX.cpp/h 2019-02-13 13:21:50 -08:00
erwincoumans 79a273f644 deep_mimic: add option for spherical joint drive motor, next to stable PD control 
(existing policies won't work with those motors, needs tuning and re-training)
 2019-02-12 20:42:05 -08:00
erwincoumans e7e46154bb Merge pull request #2106 from erwincoumans/master 
fast createMultiBody batch creation, more deep_mimic work
 2019-02-12 12:10:10 -08:00
erwincoumans 85ee4c2934 allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example. 
expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals.
allow a maximum of 128k objects
fix meshScale for PyBullet.createCollisionShape for custom mesh
expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
 2019-02-12 10:36:01 -08:00
Somedaywilldo 59d58ce430 add Human3.6M support for deep_mimic env 2019-02-13 00:13:56 +08:00
erwincoumans b5a707de1d Merge pull request #2104 from RanTig/user-data-info-in-notification 
Adds extra information about the UserData in the notifications.
 2019-02-12 07:29:14 -08:00
Tigran Gasparian d9e36935e6 Adds extra information about the UserData in the notifications. 
When using the USER_DATA_ADDED and USER_DATA_REMOVED notifications, some
more information is necessary than just the user data id, especially
when a user data entry has been removed.
 2019-02-12 12:02:20 +01:00
bla a94a24959f add deep_mimic pre-trained policies 2019-02-11 11:06:15 -08:00
Erwin Coumans aaae366a21 towards python 2.x support for deep_mimic (still issue with Logger.print2) 2019-02-11 10:03:26 -08:00
Erwin Coumans 786ddec076 disable GUI in deep_mimic, it slows down too much on Mac OSX 2019-02-11 09:44:59 -08:00
Erwin Coumans 30290dfba1 add missing __init__.py for pip 2019-02-11 09:20:44 -08:00
Erwin Coumans 2728294c53 more fixes in deep_mimic env 2019-02-11 09:15:42 -08:00
Erwin Coumans 1bd201eb43 fixes in PyBullet deep_mimic to allow running in pip version 2019-02-11 08:51:07 -08:00
erwincoumans 12e6478689 Merge pull request #2103 from erwincoumans/master 
PyBullet deep_mimic backflip re-using original DeepMimic policy from Jason Peng
 2019-02-11 05:45:21 -08:00
erwincoumans d4292fdac3 PyBullet deep_mimic fix computeAngVelRel 2019-02-10 21:37:34 -08:00