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Author SHA1 Message Date
erwincoumans 17219f84c6 make setJointPosMultiDof and setJointVelMultiDof argument const. 
add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
 2018-11-10 14:26:31 -08:00
erwincoumans 642c6a71d2 fix 2 potential data race conditions. 2018-11-08 14:41:22 -08:00
erwincoumans 49b098854e PyBullet: avoid calling syncBodies for each DOF in pdControl. 
Allow PD_CONTROL in setJointMotorControlArray.
 2018-11-07 09:29:19 -08:00
erwincoumans 0b513c825d Merge pull request #1981 from erwincoumans/master 
fix some race conditions
 2018-11-05 18:12:52 -08:00
erwincoumans 1cb8dc383f Merge pull request #1975 from erwincoumans/master 
fix a potential data race condition.
 2018-11-02 11:21:51 -07:00
erwincoumans 9ed9ef2894 Merge pull request #1972 from erwincoumans/master 
fix some thread sanitizer (read/write integer, should be a harmless w…
 2018-11-01 08:47:43 -07:00
erwincoumans 750133694c Disable btQuickprof.h profiling by default. We use custom profiling functions, see b3ChromeUtilsStartTimings. 2018-11-01 08:19:50 -07:00
erwincoumans 8e72b00c03 Merge pull request #1969 from erwincoumans/master 
PyBullet: call the right method internally, also rudimentary MuJoCo xml to PyBullet/ROS URDF converter.
 2018-10-31 12:14:33 -07:00
erwincoumans 44a4351339 Merge pull request #1967 from erwincoumans/master 
remove ARS files
 2018-10-30 19:46:46 -07:00
erwincoumans 5fbc015ba6 Merge pull request #1951 from duckdoom5/patch-1 
Added missing extern declaration
 2018-10-29 17:00:35 -07:00
erwincoumans d9fa97dd5b Merge pull request #1962 from erwincoumans/master 
eglPlugin: remove visual shape for removeBody.
 2018-10-29 16:51:32 -07:00
erwincoumans c80e2816ad PyBullet: Use fileIOPlugin in processRestoreStateCommand 
PyBullet: Report debug information in case of failure in restoreState.
 2018-10-29 12:08:34 -07:00
erwincoumans 35790c36c2 fix renamed variable m_rootPath->m_pathPrefix 2018-10-29 10:56:55 -07:00
erwincoumans 078887c4d7 PyBullet fileIOPlugin: don't add equal fileIO interface twice (based on identical fileIOType and pathPrefix) 
loadBullet goes through fileIOPlugin
 2018-10-29 10:25:40 -07:00
erwincoumans ee76873689 eglPlugin: remove visual shape for removeBody. 2018-10-28 21:08:57 -07:00
erwincoumans f34aec941b Merge pull request #1960 from BlGene/pip-egl 
pip egl install: added btThreads.cpp
 2018-10-28 19:54:38 -07:00
erwincoumans fa4d279cee Merge pull request #1961 from janisozaur/patch-1 
Update include guard in btGImpactBvh.h
 2018-10-28 19:53:24 -07:00
erwincoumans a804815fd7 Merge pull request #1959 from erwincoumans/master 
Use the kF_UseGjkConvexCastRaytest for more accurate picking, tweak tensorflow humanoid_running.py demo to be more robust
 2018-10-28 19:53:01 -07:00
erwincoumans 126537bd93 pybullet: fix issue with loadBullet command 2018-10-28 19:51:01 -07:00
Erwin Coumans eedca6020b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-28 12:35:51 -07:00
erwincoumans df9b4fb005 remove printf from demo 2018-10-27 11:56:04 -07:00
erwincoumans a4cab78dd0 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-27 11:38:56 -07:00
erwincoumans bdda7af8d7 Use the kF_UseGjkConvexCastRaytest for more accurate picking 
fix upAxis in some demos
 2018-10-27 11:38:38 -07:00
erwincoumans 9c780185af Merge pull request #1957 from erwincoumans/master 
add Laikago quadruped model (thanks to Unitree for cad meshes),  make pybullet setup.py use threadsafe by default.
 2018-10-26 20:22:54 -07:00
erwincoumans 693985260f Merge pull request #1955 from erwincoumans/master 
PyBullet: allow to pass vertices (for convex) and vertices+indices (f…
 2018-10-26 11:20:44 -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
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
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
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
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
erwincoumans 63784dab5f Update NN3DWalkersTimeWarpBase.h 
Fix issue #1940, see https://github.com/bulletphysics/bullet3/issues/1940
 2018-10-17 20:08:06 -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
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
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
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
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
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
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
Erwin Coumans f90fbed54e Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-05 20:01:37 -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
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
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
erwincoumans da37f1d559 add glViewport after call to startRendering (some renderers call glViewport) 2018-10-02 07:49:13 -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
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
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
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
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
erwincoumans b73b05e9fb add getClosestPoints.py example. 
allow to perform a getClosestPoints query with a collisionShape and world transform (position, orientation) that isn't part of the world.
(use createCollisionShape to create it)
add optional removeCollisionShape, for collision shapes only used in a query (and not used to create a body)
 2018-09-22 14:18:21 -07:00
erwincoumans cdf8c908ad add getClosestPoints.py example. 
allow to perform a getClosestPoints query with a collisionShape and world transform (position, orientation) that isn't part of the world.
(use createCollisionShape to create it)
 2018-09-22 13:17:09 -07:00
erwincoumans 64a7a3d82f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-21 17:33:31 -07:00
erwincoumans 278454ae17 allow to disable self-collision for a link-pair 2018-09-21 17:33:13 -07:00
erwincoumans 8d8f96c850 Merge pull request #1886 from erwincoumans/master 
pybullet, fix single step synchronous rendering, add missing files in pip version 2.1.8
 2018-09-20 09:26:58 -07:00
erwincoumans 874bbc91a3 Merge remote-tracking branch 'bp/master' 2018-09-20 09:08:56 -07:00
erwincoumans 1ec616362c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-20 09:08:46 -07:00
erwincoumans 616192f80a use grpc port -1 by default in PyBullet. add grpcClient.py and grpcServer.py 2018-09-20 09:07:47 -07:00
erwincoumans 0b08881ab8 wait until a frame is rendered, when using the COV_ENABLE_SINGLE_STEP_RENDERING command (Windows and Linux only) 2018-09-15 14:22:31 -07:00
erwincoumans d315673d3a Merge pull request #1879 from erwincoumans/master 
fix internal build / pybullet version bump
 2018-09-14 18:54:41 -07:00
erwincoumans 81f6a63490 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-14 17:17:20 -07:00