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2320 Commits

Author SHA1 Message Date
Andrea Catania
4dad15946b Multibody memory invalid writing 
Related #2233
 2019-05-06 17:56:18 +02:00
Emil Nordén
7638b7c5a6 fixed build on latest version of clang 2019-05-04 08:38:53 +02:00
erwincoumans
38f45d7137 Update btMultiBodyDynamicsWorld.cpp 2019-04-27 14:16:44 -07:00
erwincoumans
a8d1c121fd allow Z as up-axis for raycast acceleration in btHeightfieldTerrainShape 2019-04-16 10:34:59 -07:00
erwincoumans
2a9bfbdb1c Merge pull request #2204 from erwincoumans/master 
add raycast accelerator for btHeightfieldTerrainShape, thanks to Marc…
 2019-04-15 22:20:06 -07:00
erwincoumans
ee9b14299c Revert "Accelerated terrain raycast with "Bresenham" and chunks" 2019-04-15 22:19:40 -07:00
erwincoumans
d9d37cc4ea Merge pull request #2062 from Zylann/heightfield_accelerator 
Accelerated terrain raycast with "Bresenham" and chunks
 2019-04-15 22:18:58 -07:00
erwincoumans
f28fd91e4f add raycast accelerator for btHeightfieldTerrainShape, thanks to Marc Zylann, see https://github.com/bulletphysics/bullet3/pull/2062 
it can be disabled by setting the flag cb.m_flags |= btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator;
acceleration is disabled for z axis up.
add btHeightfieldTerrainShape example to example browser
 2019-04-15 21:55:29 -07:00
erwincoumans
a929e8f2e5 Merge pull request #2203 from erwincoumans/master 
implement stablePD control version of testLaikago,  fix getCameraImage in VR,  only report solver analytics if enabled using setPhysicsEngineParameter
 2019-04-15 08:52:03 -07:00
erwincoumans
e97a7d77af only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1) 2019-04-14 18:20:20 -07:00
erwincoumans
5ff52e47d9 report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error. 2019-04-11 22:19:02 -07:00
Steven
bdf0553077 don't need to call the computeAccelerationsArticulatedBodyAlgorithmMultiDof() the second pass if the m_internalNeedsJointFeedback is false. 2019-04-09 20:13:54 +08:00
Stephen Gold
231195843f in btSimpleBroadphase::destroyProxy(), remove pairs before freeing proxy 2019-04-02 21:51:58 -07:00
Erwin Coumans
150a6a0880 Qualify calls to certain functions from the cmath library. 2019-03-14 16:57:50 -07:00
erwincoumans
a9e350b0fb Merge pull request #2141 from erwincoumans/blocksolver 
solver experiment
 2019-03-06 22:02:44 -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
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
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
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
5d871806eb enable stable PD plugin in premake4.lua PyBullet 
add a normalize in the setRotation axis/angle to be sure.
Add more code from the DeepMimic project, training doesn't work yet.
 2019-01-31 21:31:26 -08:00
erwincoumans
014c68388e fix createVisualShape.py ray vertical/horizontal and retina scale, fixes Issue 2085 
fix memory leak in removeBody, fixes issue 2086
 2019-01-30 15:29:43 -08:00
Erwin Coumans
77a9a77b60 create some 'Unity Build' cpp files, to work-around setuptools on Windows creating >32k command-line 
see 'won't fix' in https://bugs.python.org/issue1539295
 2019-01-24 10:32:15 -08:00
Erwin Coumans
a3ec60da67 IsAlmostZero -> IsAlmostZero1 2019-01-23 16:45:29 -08:00
Erwin Coumans
a174b42c02 fix compile issues 2019-01-23 16:33:06 -08:00
erwincoumans
93087f36df avoid conflicts when using a unity build (single cpp file including many other cpp) 2019-01-23 13:35:58 -08:00
erwincoumans
225db2e385 Merge remote-tracking branch 'bp/master' 2019-01-23 08:55:38 -08:00
erwincoumans
ae8e83988b Add preliminary PhysX 4.0 backend for PyBullet 
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
 2019-01-22 21:08:37 -08:00
Fredrik Svantesson
192b92a6dd Add space to prevent macro from specifying literal 2019-01-18 22:58:09 +01:00
Marc Gilleron
e96505d4c2 Accelerated terrain raycast using "Bresenham" traversal and optional chunks 2019-01-16 21:31:58 +00:00
Erwin Coumans
80684f44ea fix issue 76 (should be harmless) 2019-01-04 10:10:20 -08:00
Erwin Coumans
01bb0c3bd7 avoid macro redefinition 2019-01-04 08:40:54 -08:00
erwincoumans
3729b733de Merge pull request #1941 from ShFil119/impr/remove_register 
Remove unneeded keyword `register`
 2019-01-04 07:58:16 -08:00
erwincoumans
93a6846931 Merge pull request #2042 from erwincoumans/master 
Increase mesh allocation for vertices/indices in PyBullet.createColli…
 2019-01-04 07:52:32 -08:00
Erwin Coumans
19aafd5221 PyBullet: handle the switch from fixed base to floating base when changing mass from zero to non-zero 2019-01-03 17:35:12 -08:00
erwincoumans
126b676220 Merge pull request #2034 from erwincoumans/master 
Cleaning up the issue tracked with old/out-of-date/issues that haven't been addressed for too long.
 2018-12-31 12:42:41 -08:00
Erwin Coumans
83213da154 applied patch for Issue 68 
// Ensure that gContactProcessedCallback is called for concave shapes.
        if (getLastManifold())
            m_resultOut->refreshContactPoints();
 2018-12-22 17:06:57 -08:00
Erwin Coumans
e5fb1aa1d5 apply improvement, to allow btCompoundShape per-shape collision filtering 
Fixes old issue 67
 2018-12-22 17:02:58 -08:00
Erwin Coumans
6661b1ac71 internalApplyImpulse already applies the getLinearFactor, fixes Issue 71 2018-12-22 16:53:52 -08:00
Erwin Coumans
44f8064855 Fix Issue 61 related to character controller, 
see 6cb832140d
 2018-12-22 16:44:36 -08:00
Erwin Coumans
7740162ad8 apply gimpact versus rotated plane issue,thanks to @cameronwhite 
see bd8bd11929
Fixes Issue 69
 2018-12-22 16:38:40 -08:00
erwincoumans
8bc1c8e01b Merge pull request #2030 from erwincoumans/master 
some fixes in inverse dynamics, PyBullet example comparing explicit pd, stable pd control, position control (constraint)
 2018-12-22 16:17:26 -08:00
erwincoumans
d477d18ad6 Expose subsimplexcast max iterations/epsilon 
Note that for best quality, always use BT_USE_DOUBLE_PRECISION
This fixes Issue 34
https://github.com/bulletphysics/bullet3/issues/34
 2018-12-22 12:44:29 -08:00
erwincoumans
63ac2182ae fix degerenate case in btHingeConstraint, see Issue 2031 
https://github.com/bulletphysics/bullet3/issues/2031
 2018-12-22 11:19:15 -08:00
erwincoumans
875a5f6b0e append m_, fixes Issue 402 2018-12-22 11:07:08 -08:00
erwincoumans
7ce9ad23fb Use safeNormalize, in case a both objects have identical origin. 
Fixes Issue 2021
 2018-12-22 10:59:00 -08:00
erwincoumans
9c4136da16 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-12-19 20:15:40 -08:00
erwincoumans
8e8c3fb315 few fixes in inverse dynamics 2018-12-19 20:15:30 -08:00