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2788 Commits
Author SHA1 Message Date
Benelot c0285bc425 Add slider to control number of parallel evaluations. 2016-09-12 19:42:07 +02:00
Benelot 229d2501af Add 2m ground circles. Make population config printable. Add timeseries 
plot of individual fitnesses of each generation.
 2016-09-12 16:36:37 +02:00
Benelot 88edbf8524 Implement basic evoluationary algorithm. 2016-09-11 22:25:22 +02:00
yunfeibai ae2d256f57 Merge remote-tracking branch 'upstream/master' 2016-09-11 04:17:05 -07:00
yunfeibai c952c50ad9 Merge remote-tracking branch 'upstream/master' 2016-09-11 04:11:51 -07:00
Erwin Coumans 7df9b69039 pybullet: add option to use NumPy to speed up, thanks to moof2k 
option is disabled by default. When using cmake, use
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON
then both testrender.py and testrender_np.py will work
without numpy only testrender.py works.
The numpy.reshape is likely a no-op when using numpy array,
so we could remove testrender_np.py...

See https://github.com/bulletphysics/bullet3/pull/774
 2016-09-11 11:35:12 +01:00
Erwin Coumans 5c76b01659 allow pybullet with or without NumPy 2016-09-11 11:09:51 +01:00
Erwin Coumans c75bbd4608 allow pybullet with or without numpy using PYBULLET_USE_NUMPY define (in build system) 2016-09-11 11:09:10 +01:00
Erwin Coumans e921f1b9b7 remove duplicate definitions of SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE 2016-09-11 08:40:58 +01:00
Erwin Coumans 82661d98cd init ERP for second btMultiBodyJointMotor, 
comment-out debug printf in Kuka IK example
 2016-09-11 05:54:47 +01:00
yunfeibai a00841a498 Compute delta S from Bullet link state. 2016-09-10 19:18:29 -07:00
yunfeibai 1b72b91bcf Expose link state in RobotSimAPI. 2016-09-10 18:48:57 -07:00
erwin coumans c5d775a635 disable real-time by default 2016-09-09 14:41:23 -07:00
erwin coumans 3c706306cd add experimental pr2-gripper support in VR physics server 
add setErp to btMultiBodyJointMotor
 2016-09-09 14:30:37 -07:00
erwin coumans f72982306e fix issues with VR physics server 2016-09-09 11:28:38 -07:00
Erwin Coumans 016dc273c6 fix an SSE/SIMD 16-byte alignment issue 2016-09-09 09:01:04 -07:00
erwin coumans 4ab02a07e5 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-08 15:22:41 -07:00
erwin coumans 32eccdff61 Create project file for BussIK inverse kinematics library (premake, cmake) 
URDF/SDF: add a flag to force concave mesh collisiofor static objects. <collision concave="yes" name="pod_collision">
VR: support teleporting using buttong, allow multiple controllers to be used, fast wireframe rendering,
Turn off warnings about deprecated C routine in btScalar.h/b3Scalar.h
Add a dummy return to stop a warning
Expose defaultContactERP in shared memory api/pybullet.
First start to expose IK in shared memory api/pybullet (not working yet)
 2016-09-08 15:15:58 -07:00
Erwin Coumans e0127bdb54 merge pybullet.c after conflicts due to Jeff's formatting pull request. 2016-09-08 11:12:58 -07:00
Erwin Coumans 8ba9a04dd9 Merge remote-tracking branch 'bp/master' 2016-09-08 07:39:48 -07:00
yunfeibai c94a8e0d35 Use body Jacobian from Bullet for IK. 2016-09-07 23:14:23 -07:00
yunfeibai f635c64205 Expose Jacobian computation to RobotSimAPI. 2016-09-07 17:37:38 -07:00
erwincoumans f4ac577baf Merge pull request #771 from bingjeff/master 
pybullet tweaks for double precision
 2016-09-07 17:36:01 -07:00
erwincoumans ba2f522e05 Update BulletUrdfImporter.cpp 
use free (and not delete), since b3ImportMeshUtility/stbi_load uses malloc (and not new)
 2016-09-07 16:02:16 -07:00
yunfeibai c198029cb9 Expose body Jacobian in shared memory API. 2016-09-07 16:00:38 -07:00
Jeffrey Bingham f7ed0d7703 [format] Convert pybullet.c to consistent style. 2016-09-06 23:43:57 -07:00
Jeffrey Bingham edef18e161 [python] Convert physics calls to double precision. 
In order to feed Bullet the correct values when
compiled with double precision the pybullet interface
needs to pass double precision values.
 2016-09-06 23:31:41 -07:00
Benelot d9a2113b28 Implement simple body part drop strategy to resolve body 
interpenetrations
 2016-09-06 22:30:46 +02:00
erwincoumans 4944aca28b Update our_gl.cpp 2016-09-06 13:26:08 -07:00
erwincoumans 630fcda38b fix compile issue pybullet on MSVC 2010 2016-09-03 09:53:21 -07:00
erwin coumans de5d1b5cfc make husky wheels soft/compliant 
reduce shadow size to make VR on older GPU (Mac Pro 2013) perform more smooth
less sleep in physics thread.
 2016-09-03 08:39:40 -07:00
erwincoumans 4c9b009d5b Merge pull request #770 from erwincoumans/master 
export contact friction/damping through URDF and API
 2016-09-02 18:18:21 -07:00
Erwin Coumans ecd814c9c5 export contact friction/damping through URDF and API 
convert from contact friction/damping to cfm/erp
btCollisionObject::setContactFrictionAndDamping
 2016-09-02 16:40:56 -07:00
Ian Wilkes 2336be02e4 Added Phong refelction to the TinyRenderer Shader. 2016-09-02 11:56:03 -07:00
Ian Wilkes ba583feb7f Updated TinyRenderer intensity paramater. 
Switched from ranging from 0 to 1 - ambient to -1 * (1-ambient) to (1-ambient).
 2016-09-02 11:56:03 -07:00
erwincoumans 21c60c66ec Merge pull request #767 from ludi1001/urdf-joint-transforms 
Fix joint orientations when loading URDF files.
 2016-09-02 08:21:02 -07:00
Erwin Coumans (Google) f7522873f9 fix compile issue on Linux 2016-09-01 22:11:07 -07:00
Erwin Coumans fe54f146ad Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-01 21:26:38 -07:00
Erwin Coumans e98fca1e5e implement pybullet.getContactPointData(), two optional object unique ids as filter 
returns a pylist of contact points. Each point has the following data:

	0     int m_contactFlags;//unused for now
         1     int m_bodyUniqueIdA;
         2     int m_bodyUniqueIdB;
         3     int m_linkIndexA;
         4     int m_linkIndexB;
         5-6-7     double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
         8-9-10     double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
         11-12-13     double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
         14     double m_contactDistance;//negative number is penetration, positive is distance.

         15    double m_normalForce;
 2016-09-01 18:28:39 -07:00
Logan Su 9d2d286c46 Fix joint orientations when loading URDF files. 2016-09-01 18:12:14 -07:00
erwincoumans a370c3bbac Merge pull request #765 from YunfeiBai/master 
Torsional and rolling friction for btMultiBody
 2016-09-01 14:57:46 -07:00
erwincoumans fe46ee8adf Merge branch 'master' of https://github.com/erwincoumans/bullet3 
Conflicts:
	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2016-09-01 13:32:07 -07:00
erwincoumans 85fd7f560c add first draft of contact point query in shared memory API 
b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData);
Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet.
Add btCollisionObject::setUserIndex2
 2016-09-01 13:30:07 -07:00
Jeffrey Bingham 1c65cae6d0 [SharedMemory] Calculate inverse dynamics now uses world gravity. 
Small change that takes the world gravity and applies it to the
body during the call to inverse dynamics in the shared memory
interface. Otherwise the gravity vector is left at the default
value and there is currently no interface to set the gravity
for the inverse dynamics system.
 2016-09-01 10:46:34 -07:00
erwincoumans 7790ee2f02 fix compile issue with pybullet.c on Visual Studio 2016-08-31 16:05:42 -07:00
yunfeibai 9c124b5896 Rolling friction demo for sphere and torsional friction demo for two point contact. 2016-08-30 17:50:37 -07:00
Erwin Coumans e6865a1186 Merge remote-tracking branch 'bp/master' 2016-08-30 14:44:35 -07:00
Erwin Coumans a30ff20e6b preparation for KUKA IK tracking example 2016-08-30 14:44:11 -07:00
yunfeibai d784c61b61 Add rolling friction, set rolling friction coefficient from urdf, and set up two point contact experiment. 2016-08-30 11:19:23 -07:00
Logan Su f86ce4d44b Add flags to load inertia values from URDF. 2016-08-29 15:09:18 -07:00