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1050 Commits

Author SHA1 Message Date
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
erwincoumans
76918ca26d Merge remote-tracking branch 'bp/master' 2019-04-03 20:08:05 -07:00
erwincoumans
6951aaf26a implement PyBullet removeState command. Fixes Issue #2163 
https://github.com/bulletphysics/bullet3/issues/2163
 2019-04-03 20:06:40 -07:00
erwincoumans
d88a281802 Merge pull request #2177 from crewmatt/master 
Initializes simulation timestamp to 0 explicitly.
 2019-03-26 19:51:43 -07:00
mbennice
fed1a878d7 Replaces ; with , 2019-03-26 18:14:07 -07:00
Erwin Coumans
c033c8b22f add missing m_numDofs 2019-03-26 18:13:04 -07:00
Erwin Coumans
4898887265 temporary disable experimental BulletRobotics examples 2019-03-26 15:07:55 -07:00
mbennice
8a96dc67cc Initializes simulation timestamp to 0 explicitly. 2019-03-26 14:39:01 -07:00
mbennice
8fcb8d0694 Update to bullet formatting 2019-03-17 11:52:56 -07:00
mbennice
d41e449d6f Adds a timestamp as a physics parameter. 2019-03-14 15:32:45 -07:00
erwincoumans
18918389d3 Merge pull request #2145 from fuchuyuan/addExample 
Add example
 2019-03-12 11:06:53 -07:00
Chuyuan Fu
bea2f6e65a Turn off self-collision for FixJointBoxes example 2019-03-11 13:12:49 -07:00
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
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
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
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
erwincoumans
0af0f193ee reduce size of SharedMemoryStatus by moving state details into shared memory streaming block. 2019-03-06 23:27:59 -08:00
erwincoumans
1bac759a43 Update fileIOPlugin.cpp 
fix check for (zip) file filename
 2019-03-01 07:43:06 -08:00
erwincoumans
4d711ed411 Merge remote-tracking branch 'origin/physx' into physx_clean 2019-02-28 17:52:59 -08:00
Pandhariix
4801425910 Use the correct structure in the PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand method 2019-02-28 18:24:32 +01:00
erwincoumans
8e1c1448ab Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof. 2019-02-27 09:54:12 -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
erwincoumans
33619893c7 fixed failed git merge 2019-02-18 18:34:11 -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
f166ca88ea Merge remote-tracking branch 'bp/master' 2019-02-13 17:09:27 -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
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
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
erwincoumans
054c0b8e58 PyBullet+PhysX backend: expose getJointState reading link position/velocity 2019-02-05 10:24:41 -08:00
erwincoumans
42369aa47d PyBullet.changeDynamics: expose jointDamping 
PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
 2019-02-04 21:06:43 -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
b257bd731b PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture. 2019-01-29 12:03:11 -08:00
erwincoumans
52c8e14646 deal with 1-DOF and 3-DOF joints separately in resetJointState, fixes Issue 2076 2019-01-26 17:53:10 -08:00
erwincoumans
a6244d714e more PyBullet PhysX preliminary work. 2019-01-25 10:14:54 -08:00
Erwin Coumans
7df6adb9f8 fix compilation, make travis CI happy 2019-01-23 19:58:19 -08:00
erwincoumans
43d3cdfa38 make Travis CI pass 2019-01-23 19:34:21 -08:00
erwincoumans
66f4b276ec fix compile issue 2019-01-23 19:25:12 -08:00
erwincoumans
587500dc16 remove auto (no C++11) 2019-01-23 18:23:09 -08:00
erwincoumans
899e3274e8 fix more compile issues 2019-01-23 17:44:49 -08:00
erwincoumans
5da375b93c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-01-23 17:35:55 -08:00
erwincoumans
e637b24237 remove Rand.* and <random> (no C++11) 2019-01-23 17:35:45 -08:00
Erwin Coumans
a174b42c02 fix compile issues 2019-01-23 16:33:06 -08:00