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Commit Graph
1156 Commits
Author SHA1 Message Date
erwincoumans 6b4f69f733 Merge remote-tracking branch 'bp/master' 2017-10-09 21:09:23 -07:00
yunfeibai 55b60e90f7 Modify inverse kinematics to also support robot model with fixed joint. 2017-10-09 18:28:52 -07:00
Erwin Coumans d48e2a20af fix a string check issue 2017-10-09 12:28:39 -07:00
Jonathan Tompson 2dee1638f4 quick update to SAVE_WORLD for JOINT_GEAR. 2017-10-09 10:48:03 -07:00
erwincoumans 7d7f5ee7d4 Merge pull request #1371 from jonathantompson/userConstraintResultArgs_fix 
Fixed setting of m_userConstraintResultArgs.
 2017-10-08 22:56:56 -07:00
Jonathan Tompson a57c7e7fcf Fixed setting of m_userConstraintResultArgs (not sure how it ever worked for anyone). It was filling up the userConstraintData with stale memory. 2017-10-08 21:31:29 -07:00
erwincoumans 2f2f070ab5 allow changeVisualShape (rgbaColor, specularColor and texture) for maximal coordinates rigid body (btRigidBody) 
Make the examples\pybullet\examples\createVisualShape.py a bit more interesting
 2017-10-08 11:34:42 -07:00
erwincoumans cec8da3d85 Implement first draft of pybullet.createVisualShape and add createVisualShape.py example 
add normals to duck.obj for nicer appearance
fix plane100.urdf (so collision shape matches visual shape size)
 2017-10-07 18:50:23 -07:00
Erwin Coumans 1034c7e720 reorder initializer 2017-10-06 17:30:10 -07:00
Erwin Coumans dbd82f26ba fix TinyRenderer activateShapeTexture 2017-10-06 17:19:14 -07:00
Erwin Coumans 027178ae6f fix some compile issues/bugs 2017-10-06 15:34:25 -07:00
Erwin Coumans 26d32f2aa8 improve loading performance of large textures: 
option to disable tinyrenderer, use p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
also make sure to use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loadURDF, and enable rendering afterwards using p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
reorder 2 loops, making the flip texels twice as fast (cache coherency),
single memcpy of entire texture in tinyrenderer, instead of per-pixel copy (memory layout is the same)
add lots of B3_PROFILE timings, to see where time is going
 2017-10-06 13:46:24 -07:00
erwincoumans b572fe43f9 fix signal handling in ExampleBrowser on linux/mac on termination 
expose all analogue axes from OpenVR (5 controllers, each x,y -> 10 floats) in pybullet.getVREvents(allAnalogAxes=1)
 2017-10-05 12:59:58 -07:00
erwincoumans 822ff077c7 expose some parameters through pybullet.getPhysicsEngineParameters (C-API: b3InitRequestPhysicsParamCommand + b3GetStatusPhysicsSimulationParameters) 2017-10-05 11:43:14 -07:00
erwincoumans 1262adeaec build a named tuple for 'getConnectionInfo' 
remove debug code
 2017-10-05 09:57:17 -07:00
erwincoumans 9303891468 Allow to configure Y=up, default is Z=up, using pybullet.configureDebugVisualizer(COV_ENABLE_Y_AXIS_UP,0/1) 
Implement pybullet.getConnectionInfo, returns [isConnected, connectionMethod], where isConnected=0 or 1
 2017-10-05 09:02:33 -07:00
erwincoumans f467f325f7 store mass matrix in streaming part of shared memory (no support for unlimited mass matrix sizes at the moment) 2017-10-05 08:23:10 -07:00
erwincoumans a2d6a2e822 Merge pull request #1350 from bingjeff/add_mass_matrix 
[pybullet] Add calculateMassMatrix.
 2017-10-05 07:45:30 -07:00
erwincoumans 1b03871b4d use explicit size for name, to avoid issue converting/marshalling data to C# 
example to call b3VisualShapeInformation from C# and marshall b3VisualShapeData (after loadURDF)
See examples\pybullet\unity3d\examples\NewBehaviourScript.cs
 2017-10-03 18:01:53 -07:00
erwincoumans 9577875fe9 remove debug printf 2017-10-03 16:16:09 -07:00
Erwin Coumans acbe457d31 add option to statically link a plugin, select the postFix (to avoid naming conflict of multiple plugins functions ('initPlugin' becomes initPlugin_postFix) 
pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents'
 2017-10-03 15:00:52 -07:00
Jeffrey Bingham d9782f953d Add calculateMassMatrix to physics server command processor. 2017-09-30 13:56:40 -07:00
Jeffrey Bingham 7dfed65287 Add calculateMass to shared memory interface. 2017-09-30 13:39:11 -07:00
Jeffrey Bingham 31ee8bf8bc Fix small typo in b3PluginArguments. 2017-09-30 13:17:48 -07:00
Jeffrey Bingham d49fade704 fix some formatting. 2017-09-27 22:30:32 -07:00
Jeffrey Bingham d8b80bce40 Fix the translation jacobian. 2017-09-27 22:25:39 -07:00
yunfeibai 85be3b43dd Merge remote-tracking branch 'upstream/master' 2017-09-27 15:20:11 -07:00
yunfeibai adcece7927 Adjust the IK setup to address the inverse kinematics issues mentioned in #1249. 2017-09-27 14:14:57 -07:00
erwincoumans 8a265b8af2 expose gear erp/relative position target to C-API/pybullet 
finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
 2017-09-26 19:54:36 -07:00
erwincoumans b1f8eb74a4 bump up shared memory version number 
add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
 2017-09-26 10:05:17 -07:00
erwincoumans 270a036cd7 add experimental vrSyncPlugin, that syncs the position/orientation of a vr controller to a gripper (through a constraint) 
This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python.
Modify the pybullet/examples/vr_kuka_setup.py at the end to do this:

plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
controllerId = 3
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])
 2017-09-25 18:14:50 -07:00
Erwin Coumans d3d1b51c3a fix compile warnings 2017-09-24 23:26:06 -07:00
erwincoumans 27674e5289 Update b3PluginManager.cpp 
pre/post tick were wrong order in initializer list
 2017-09-24 22:39:20 -07:00
Jeffrey Bingham ee30ca93c5 [sharedmemory] Fill-out calculateJacobian command. 
The server command processor actually didn't do anything with
the local point that was passed along with the calculateJacobian
command. Added in the necessary bit of math to return the
corresponding jacobian.

Also, fixed a typo in pybullet that was returning the same
jacobian for translation and rotation.
 2017-09-24 18:57:48 -07:00
Erwin Coumans 97509dc9d0 add some missing files for premake, thanks to Jeff Bingham for the report 2017-09-24 16:10:14 -07:00
Erwin Coumans 70364445b8 Merge remote-tracking branch 'bp/master' 2017-09-24 09:49:53 -07:00
Erwin Coumans 63ee841bea trigger build system 2017-09-23 21:01:56 -07:00
Jeffrey Bingham 1727e47beb [pybullet] Add calculateJacobian. 
* Add the calculateJacobian method to the pybullet API.
* Adjust the shared memory interface to handle fixed/floating bases
  in the calculateJacobian method.
* Fix a few comments.
 2017-09-23 19:58:59 -07:00
erwincoumans 8e496036c6 More work on the C/C++ plugin system for pybullet/C-API: 
Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand
 2017-09-23 18:05:23 -07:00
erwincoumans 5373ca39e1 add example snippet for the testPlugin/testplugin.cpp 2017-09-23 09:26:51 -07:00
erwincoumans 815a56c9bc Allow to load a urdf file in the testplugin.cpp, as first quick test, example pybullet script: 
import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)
 2017-09-23 09:25:00 -07:00
erwincoumans 37cfce99b2 add arguments to plugin system 2017-09-23 07:52:10 -07:00
erwincoumans 240fff575d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-23 07:22:50 -07:00
Erwin Coumans 3783dccaa3 create a C/C++ plugin system for pybullet / C-API. 2017-09-22 19:17:57 -07:00
erwincoumans 312e35964f make some code const correct. 2017-09-22 07:53:21 -07:00
Erwin Coumans b9b1b2dbca add B3_SHARED_API to the remaining PhysicsClientC_API APIs 2017-09-21 16:40:19 -07:00
Erwin Coumans 176c2512de add B3_SHARED_API definition for Mac / Linux / gcc 2017-09-21 08:37:00 -07:00
erwincoumans 6a7efac4c3 Quick first prototype/test to integrate pybullet into Unity, 
see readme.txt for details.
 2017-09-20 23:18:18 -07:00
erwincoumans 2919e51d9d fix loading of empty file (after header) 
remove debug printf
 2017-09-17 15:44:14 -07:00
Erwin Coumans 2e7c0cef38 pybullet/C-API: fix width/height when getCameraImage has a fallback from OpenGL hardware 
to TinyRenderer
 2017-09-14 15:39:22 -07:00