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Author SHA1 Message Date
Erwin Coumans 23ecbab7b3 fix setup.py and pybullet to work better with eglPlugin on Linux 2018-09-11 13:24:35 -07:00
bla 36c900e384 linux fixes related to egl 2018-09-10 23:52:53 -07:00
erwincoumans 5b1588fc3f fix createProtobufs.bat script 2018-09-10 23:32:51 -07:00
Erwin Coumans 9fa3e44539 fixes related to egl plugin 2018-09-10 23:31:54 -07:00
Erwin Coumans 3b0a44e1be fix createProtobufs.sh script 2018-09-10 23:24:00 -07:00
erwincoumans 684a9f6a99 move stb_image/stb_image_write.cpp into a cpp file instead of random files with the magic 'STB_IMAGE_WRITE_IMPLEMENTATION' define 
move setup.py back to eglRenderer extension, use pkgutil.get_loader('eglRenderer').get_filename()
disable dlmopen by default, unless B3_USE_DLMOPEN is defined.
 2018-09-10 23:18:34 -07:00
Erwin Coumans f26d4fdc4c pybullet eglPlugin: fix Mac OSX build 2018-09-10 08:55:47 -07:00
bla 6992195ba8 add pybullet example for eglRendererPlugin, will use EGL in a plugin on Linux, Win32OpenGLWindow in a plugin on Windows 2018-09-09 23:03:07 -07:00
bla 8f711462e0 fix setup.py to work better on Windows and Linux (with default eglPlugin static built-in, 
just use pybullet.loadPlugin("eglRendererPlugin") before loading/creating any objects.
use end/startRendering (swap buffers) before the rendering in the eglPlugin
 2018-09-09 22:58:08 -07:00
erwincoumans 9698c3d600 PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). 
postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread.
When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
 2018-09-09 21:08:47 -07:00
erwincoumans 2744e84592 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-09 15:25:27 -07:00
erwincoumans 7369005402 pybullet, use eglPlugin statically instead of dynamic loading an Extension -DSTATIC_EGLRENDERER_PLUGIN 
Fix compile errors of pybullet on Windows.
 2018-09-09 15:23:26 -07:00
bla de14006c2c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-09 14:47:41 -07:00
bla ced4645429 add missing include 2018-09-09 14:47:09 -07:00
erwincoumans c4fe0f7357 disable enable_egl by default (?!?) 2018-09-09 14:39:56 -07:00
erwincoumans adb5c049c7 Thanks to @dchichkov for some of the fixes in the eglRendererPlugin! 
Rename tinyRenderer -> eglRenderer in the eglRendererPlugin.
Allow to run the eglRendererPlugin to run on Windows (not in EGL mode but Win32OpenGLWindow mode)

Here is a script I tested on Windows:
~~~~~~~~~~~~
mport pybullet as p
import time

p.connect(p.DIRECT)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_eglRendererPlugin_vs2010_x64_debug.dll","_eglRendererPlugin")
print("plugin=",plugin)
p.setGravity(0,0,-10)
p.loadURDF("plane.urdf",[0,0,-1])
p.loadURDF("r2d2.urdf")
pixelWidth = 320
pixelHeight = 220
while (1):
	p.stepSimulation()
	viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
	projectionMatrix  = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]

	#img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	img_arr = p.getCameraImage(pixelWidth, pixelHeight, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	#print("img_arr=",img_arr)
	time.sleep(1)
~~~~~~~~~~~~~
 2018-09-09 13:37:49 -07:00
erwincoumans dc7feb9027 Merge remote-tracking branch 'bp/master' 2018-09-09 10:48:58 -07:00
erwincoumans 233a7083d1 Merge pull request #1790 from BlGene/egl-plugin 
OpenGL render plugin
 2018-09-09 09:27:15 -07:00
erwincoumans 377a89c09c Merge pull request #1866 from jna29/bug-fix/robot-manipulators-errors 
Fixed bugs mistaking forearm_roll_joint for upper_arm_roll_joint
 2018-09-08 18:53:47 -07:00
Joshua Aduol cc4c02edc7 Fixed bugs mistaking forearm_roll_joint for upper_arm_roll_joint 2018-09-09 00:17:06 +01:00
erwincoumans 63f4a63e15 since parent collision is always disabled by default for self-collision, we add a new flag 
URDF_USE_SELF_COLLISION_INCLUDE_PARENT, to force self-collision between direct parent/child (not recommended in general)
 2018-09-08 14:46:43 -07:00
erwincoumans cc91b4a7cf Merge pull request #1865 from erwincoumans/master 
update quickstart guide, bump up pybullet version
 2018-09-08 13:50:52 -07:00
Erwin Coumans bc0a201bd1 update quickstart guide from https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3 
bump up pybullet version to 2.1.4
 2018-09-08 12:48:26 -07:00
Erwin Coumans 0515d5a5f6 Merge remote-tracking branch 'bp/master' 2018-09-08 07:51:30 -07:00
Erwin Coumans b40fc10184 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-08 07:51:16 -07:00
erwincoumans 9085c18354 Merge pull request #1863 from erwincoumans/master 
remove pre-build proto/grpc files (they differ for each platform and …
 2018-09-07 16:17:06 -07:00
Erwin Coumans 7376c26e4b remove gl libs from openvr 2018-09-07 16:06:42 -07:00
erwincoumans 5164f2f9a7 remove pre-build proto/grpc files (they differ for each platform and proto/grpc version) 2018-09-07 15:44:33 -07:00
erwincoumans 12409f1118 Merge pull request #1860 from erwincoumans/master 
allow pybullet to connect to GRPC server. (need to use flag --enable_…
 2018-09-05 21:20:21 -07:00
Erwin Coumans b7d143429b Merge remote-tracking branch 'bp/master' 2018-09-05 18:54:45 -07:00
erwincoumans 0efc67841d allow pybullet to connect to GRPC server. (need to use flag --enable_grpc in premake build system) 
add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes.
example script to start server from pybullet:
import pybullet as p
p.connect(p.GUI)
#if statically linked plugin
id = p.loadPlugin("grpcPlugin")
#dynamics loading the plugin
#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")

#start the GRPC server at hostname, port
if (id>=0):
	p.executePluginCommand(id, "localhost:1234")

Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs:
numRPC = 10
while (1):
	p.executePluginCommand(id, intArgs=[numRPC])
 2018-09-05 17:58:14 -07:00
erwincoumans 437c0426c9 Merge pull request #1859 from erwincoumans/master 
only add notifications if there is a plugin that needs them
 2018-09-04 20:59:29 -07:00
Erwin Coumans 31b06f508a only add notifications if there is a plugin that needs them 
call the 'reportNotifications' in GRPC server main
 2018-09-04 19:24:31 -07:00
erwincoumans c084763795 Merge pull request #1858 from erwincoumans/master 
make GRPC work on Linux,
 2018-09-04 17:49:49 -07:00
erwincoumans 2006f134b6 Merge pull request #1857 from erwincoumans/master 
make grpc work on Mac OSX with premake
 2018-09-04 17:03:27 -07:00
Erwin Coumans 18b782847d make GRPC work on Linux, 2018-09-04 16:56:34 -07:00
Erwin Coumans 51f9a6fd0d make grpc work on Mac OSX with premake 2018-09-04 14:49:12 -07:00
erwincoumans 710e660763 Merge pull request #1855 from erwincoumans/master 
more work on grpc/proto/pybullet.proto
 2018-09-04 12:11:03 -07:00
erwincoumans c4842220a8 Merge pull request #1852 from RanTig/remove-visual-shape 
Removes visual shape data when a body gets removed.
 2018-09-04 09:42:48 -07:00
erwincoumans 5b5e4f4d74 Merge pull request #1854 from RanTig/pybullet-plugincommand-fix 
Small fix in executePluginCommand
 2018-09-04 09:42:32 -07:00
erwincoumans 9b66074949 add some missing GRPC files 2018-09-04 09:10:57 -07:00
erwincoumans 9e2f6c7935 more GRPC work 2018-09-03 23:13:15 -07:00
Tigran Gasparian a670041793 Small fix in executePluginCommand, now you can pass int arguments while keeping floats null without errors. 2018-09-03 10:41:38 +02:00
Tigran Gasparian 93145f3979 Adding space to make compiler happy. 2018-09-03 10:37:22 +02:00
erwincoumans 23e84ca9b6 more work on proto/pybullet.proto 2018-09-01 13:49:56 -07:00
erwincoumans 3285143232 Merge pull request #1851 from RanTig/use-dlmopen 
Uses dlmopen() instead of dlopen() in b3PluginManager.cpp. This allow…
 2018-08-31 14:13:13 -07:00
erwincoumans a9299fbd0c Merge pull request #1853 from erwincoumans/master 
fix crash in btInternalEdgeUtility when a mesh is not the expected type
 2018-08-31 14:12:43 -07:00
Erwin Coumans 9a26d4aaaf fix type 2018-08-31 09:59:18 -07:00
Erwin Coumans f1cb4fe29c fix crash in btInternalEdgeUtility when a mesh is not the expected type 
(don't wrap a mesh in a btCompoundShape if you want to use the edge utility)
 2018-08-31 09:25:49 -07:00
Tigran Gasparian 9799f356de . 2018-08-31 15:35:35 +02:00
Tigran Gasparian f132b4d16b Only make the change for Linux, since OSX doesn't have dlmopen() 2018-08-31 15:33:08 +02:00
Tigran Gasparian c062bfc2d5 Removes visual shape data when a body gets removed. 
Problem description:
When you add a body, remove it and then add a new
body, the body id may be reused by Bullet.
Because the visual shape data was not being removed when a body was
removed, requesting the visual shape data for a 'recycled' body id
results in both the visual shape data of the new body as well as the old
one.
Removing the visual shape data when the body gets removed fixes this.

Changes the btAlignedObjectArray for visual shapes to a hashmap, so
that removing is faster. Additionally, functions like getNumVisualShape
don't perform a linear search anymore.
 2018-08-31 15:12:28 +02:00
Tigran Gasparian 6036c027bf Uses dlmopen() instead of dlopen() in b3PluginManager.cpp. This allows plugins to be loaded in a separate namespace, avoiding symbol conflicts. 2018-08-31 10:53:46 +02:00
erwincoumans 4bf846822f Merge pull request #1850 from erwincoumans/master 
Add preliminary GRPC server for PyBullet and BulletRobotics.
 2018-08-30 19:40:13 -07:00
erwincoumans f10068b7c9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-08-30 18:36:06 -07:00
erwincoumans ee9fca8c29 GJK fix for https://github.com/bulletphysics/bullet3/issues/1703 
In a nutshell, we added a more reliable check, based on if the origin is in the GJK simplex, to determine if we are really intersecting and need to run EPA.
See also "Real-time Collision Detection with Implicit Objects" by Leif Olvang
Todo: integrate the simplex penetration check directly inside the Bullet btVoronoiSimplexSolver
and remove this temporary code from libCCD
Note, for large differences in shapes, use double precision build!
 2018-08-30 18:35:51 -07:00
Erwin Coumans 40a15053bd add createProtobufs.sh script for Mac/Linux (only tested on Mac so far) 2018-08-30 10:09:00 -07:00
Max Argus 425ecbd3e6 fix cmake, linux only (patch egl) 2018-08-30 13:24:25 +02:00
Max Argus 964a5116eb fix cmake + apple (patch egl) 2018-08-30 13:24:25 +02:00
Max Argus 902818894c fix cmake (patch egl) 2018-08-30 13:24:25 +02:00
Max Argus c1d6c6b07d clean test scripts 2018-08-30 13:24:25 +02:00
Max Argus 425ab144bb fix setup.py 2018-08-30 13:24:25 +02:00
Max Argus bdc0f82a8b added syncronized render test script 2018-08-30 13:24:25 +02:00
Max Argus 4d6c610682 enable egl by default for pybullet SimpleOpenGL3App 2018-08-30 13:24:25 +02:00
Max Argus e15fb0866c rendertest + parallel pip + no debug for plugin 2018-08-30 13:24:25 +02:00
Max Argus 35b30359e3 nearly working 2018-08-30 13:24:25 +02:00
Max Argus 5f71aa859f wip 2018-08-30 13:24:25 +02:00
Max Argus 21462d1c02 update GLIR camera 2018-08-30 13:24:25 +02:00
Max Argus a6a8b091ca wip 2018-08-30 13:24:25 +02:00
Max Argus 05f82e8867 egl plugin working 2018-08-30 13:24:25 +02:00
Max Argus f80f0c76a4 added egl plugin commit 2018-08-30 13:24:25 +02:00
Max Argus 2707b7acb4 apple issue 2018-08-30 13:24:25 +02:00
Max Argus 1b95961617 fix build 2018-08-30 13:24:25 +02:00
Max Argus 9328d0bb5f fix build 2018-08-30 13:24:25 +02:00
Max Argus a9ba3eb8cc fixed cmake 2018-08-30 13:24:25 +02:00
Max Argus f0e7f266ef switched to new glad2 2018-08-30 13:24:25 +02:00
Max Argus 5dbf2373ad load gl with egl not glx 2018-08-30 13:24:25 +02:00
Max Argus 6e828688e7 activate EGL + add rendertest.py 2018-08-30 13:24:25 +02:00
Max Argus 5e8ee98f2e fix OpenGL3App argument order 2018-08-30 13:24:25 +02:00
a 3d499c8a7a pybullet: added EGL render device and window_backend option. 
EGL review.
EGL dynamic loading, windowType to int
moved to glad2
Require GL 3.3 as GLInstancingRenderer.cpp uses glVertexAttribDivisor
glad2 update with dynamic X11 added
removed old file
build fix
fix mac/win
EGL w/o c++11, off by default
fix premake
fixup: premake fix 2
 2018-08-30 13:24:25 +02:00
erwincoumans 4f7dfc2069 Add preliminary GRPC server for PyBullet and BulletRobotics. 
Will add GRPC client and PyBullet GRPC server plugin.
Will cover most/all SharedMemoryCommand/SharedMemoryStatus messages.
Run the server, then test using the pybullet_client.py
 2018-08-29 21:12:13 -07:00
erwincoumans 4d00beefbb Merge pull request #1849 from madebr/fix_1827 
Fix for bug #1827
 2018-08-29 20:54:31 -07:00
erwincoumans 65175425b0 Merge pull request #1848 from erwincoumans/master 
more fixes related to islands
 2018-08-27 08:50:46 -07:00
Erwin Coumans 2668b89740 fix another island issue 2018-08-26 22:25:39 -07:00
erwincoumans 8cac231890 Merge pull request #1847 from erwincoumans/master 
Fix some deactivation issues with btMultiBodyDynamicsWorld, should al…
 2018-08-26 18:38:34 -07:00
Erwin Coumans 72c48870b0 after picking in a multibody demo, allow sleeping for rigid bodies 2018-08-26 18:07:28 -07:00
Erwin Coumans 186ddb81d8 fix tab/space issue in Python file 
fix determinism issue introduced in previous commit
 2018-08-26 17:17:42 -07:00
Erwin Coumans 6ab6cf0bdb test if different broadphase maintains determinism 2018-08-26 16:49:17 -07:00
Erwin Coumans ff43cea263 Fix some deactivation issues with btMultiBodyDynamicsWorld, should also improve performance for PyBullet with larger worlds 
(even when sleeping is disabled, islands are split)
 2018-08-26 16:14:36 -07:00
erwincoumans d5514ef68d Merge pull request #1846 from erwincoumans/master 
also drop 'model://' from URDF file names (like we drop package://)
 2018-08-26 11:40:13 -07:00
Erwin Coumans 3036a6d2bc also drop 'model://' from URDF file names (like we drop package://) 2018-08-26 09:33:51 -07:00
erwincoumans 1bc3cec547 Merge pull request #1844 from erwincoumans/master 
remove leading space
 2018-08-25 11:55:37 -07:00
Erwin Coumans 593380b73a remove leading space 2018-08-24 16:33:18 -07:00
erwincoumans 4eb0598e8e Merge pull request #1838 from gkjohnson/fix-urdf-xml-version 
Change URDF xml version from "0.0" to "1.0"
 2018-08-23 23:08:48 -07:00
erwincoumans 78946c8ca7 Merge pull request #1842 from crewmatt/crewmatt-ikoriginalpositions 
Allow current positions for Calculate IK.
 2018-08-23 23:07:48 -07:00
erwincoumans aace31c1fa Merge pull request #1843 from rhaschke/master 
preserve constness to avoid compiler warnings
 2018-08-23 23:06:54 -07:00
Erwin Coumans 61b7591b8e expose choice of contraint solver in PyBullet, with switchConstraintSolver example 2018-08-23 23:04:17 -07:00
Robert Haschke beb3dd6196 reduce diff 2018-08-24 00:34:16 +02:00
Robert Haschke 5088f71e7f preserve constness to avoid compiler warnings 2018-08-24 00:29:54 +02:00
Garrett Johnson 711b37bea9 Change URDF xml version from "0.0" to "1.0" 2018-08-16 12:44:43 -07:00