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Author SHA1 Message Date
Erwin Coumans 6814e334a2 expose numSubSteps to pybullet 2016-12-01 17:54:52 -08:00
Erwin Coumans 898517b1e3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-11-29 19:14:20 -08:00
Erwin Coumans 32a3fb0b4d Merge remote-tracking branch 'bp/master' 2016-11-29 19:14:04 -08:00
Erwin Coumans bf22424853 Merge remote-tracking branch 'bp/master' 2016-11-22 11:18:19 -08:00
Erwin Coumans b4b93573fc tweak quadruped.py script a little bit 2016-11-14 17:02:29 -08:00
Erwin Coumans 0092a1a55d fix API to use b3InitCreateUserConstraintCommand instead of b3CreateJoint 2016-11-14 16:14:27 -08:00
Erwin Coumans 7aefe56def Merge remote-tracking branch 'bp/master' 2016-11-14 16:10:06 -08:00
erwin coumans d0cbfc5905 add humanoid/nao.urdf (BSD license) 2016-11-14 14:09:57 -08:00
erwin coumans c0fb98861d add quadruped.py script to load and initialize the a Minitaur-like quadruped 
pybullet removeConstraint, createConstraint
rename b3CreateJoint to b3InitCreateUserConstraintCommand
add int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
 2016-11-14 14:08:05 -08:00
Erwin Coumans c521d816c6 add user debug line/text features in pybullet + shared memory API: 
addUserDebugLine,
addUserDebugText
removeUserDebugItem
removeAllUserDebugItems
 2016-11-14 07:39:34 -08:00
erwin coumans 7577c6d893 add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF. 2016-11-11 18:07:42 -08:00
erwin coumans b150edf76b Merge remote-tracking branch 'bp/master' 2016-11-11 14:45:09 -08:00
erwin coumans 35fc8306fd pybullet load/save .bullet files 2016-11-11 14:44:50 -08:00
Erwin Coumans 3b5d0f444b various fixes 
move btSimulationIslandManagerMt.cpp from BulletCollision to BulletDynamics
 2016-11-10 16:18:20 -08:00
Erwin Coumans 6701947684 fix compile issues 2016-11-09 12:22:05 -08:00
Erwin Coumans 2bb53b311d silence warning 2016-11-07 21:13:48 -08:00
Erwin Coumans 34f9dd09c9 remove CommonRigidBodyBase.cpp 2016-11-07 18:30:47 -08:00
Erwin Coumans c1f728ec86 immediately propagate forward kinematics + collision world transform, after 'INIT_POSE' command 2016-11-06 15:02:07 -08:00
erwin coumans 6a0f095d5b add proper 'App_PhysicsServerUDP' without shared memory usage, and renamed previous one into 'App_PhysicsServerSharedMemoryBridgeUDP' 
(premake only, no cmake build rules yet)
 2016-11-06 11:01:55 -08:00
Erwin Coumans 17f3c40317 check for basename 2016-11-04 22:30:41 -07:00
Erwin Coumans 0ffd68ac32 fixes in Linux build if pybullet with enet/UDP 2016-11-04 13:36:45 -07:00
erwin coumans f74a35bacb serialization structures update, needed to be done since 
recent addition of src/BulletCollision/CollisionDispatch/btCollisionObject.h
recent (since august 26, 2016) serialization dumps my be corrupt.
 2016-11-03 07:11:31 -07:00
erwin coumans dbcb509246 Merge remote-tracking branch 'bp/master' 2016-10-21 10:55:06 -07:00
erwin coumans 617aa63d3a Merge remote-tracking branch 'bp/master' 2016-10-21 08:09:26 -07:00
Erwin Coumans 0ca1cee6f0 add a few virtual destructors, remove physics client from server 2016-10-20 14:08:55 -07:00
erwin coumans 24593ed11a fix r2d2.urdf and avoid self-penetrating limbs 2016-10-19 16:21:33 -07:00
erwin coumans eda400d14c Merge remote-tracking branch 'bp/master' 2016-10-19 07:43:46 -07:00
erwin coumans 3b8090fcc1 fix a pybullet.c issue on some compilers (don't allow for (int i=...) 
make the build_visual_studio_vr_pybullet_double.bat smart enough to find any Python installation in c:\python*
 2016-10-19 07:42:55 -07:00
erwin coumans f97cb7002d first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API 
b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
 2016-10-18 22:05:28 -07:00
erwin coumans d1ab6c144b change some defaults in MultiBody example, a slider constraint without limits is a bad idea 2016-10-16 11:52:38 -07:00
erwin coumans 29f3afe2a4 don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps 
optimize gpu upload (use glBufferSubData instead of glMapBuffer
Avoid checking char array against zero.
 2016-10-14 15:06:09 -07:00
erwin coumans a6225d4cd0 add check for #dof of KUKA in VR demo 
disable debug drawing again in VR demo
 2016-10-09 21:48:56 -07:00
erwin coumans 4cd401212c SharedMemory API: don't enable rolling friction by default for programmatic created rigid bodies 2016-10-07 17:52:14 -07:00
erwin coumans 98d47809b4 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-10-07 09:01:39 -07:00
erwin coumans ddff1bcdc0 remove some useless global constants, move them right into the constructor 2016-10-07 09:00:49 -07:00
erwin coumans d59b0f05a4 expose b3PhysicsParamSetNumSolverIterations 
split Visual Studio project generation batch file in regular and VR+pybullet+double precision build.
disable KUKA iiwa joint limit hack
 2016-10-05 16:31:48 -07:00
erwin coumans d6f449762b avoid wavefront obj texture index out-of-bounds (most obj out-of-bounds are not checked) 
use second controller button
 2016-10-04 08:53:59 -07:00
erwin coumans b81eb79ef5 ping-pong back/forward in PGS solving iterations to reduce bias in constraint order 
add experimental rhs clamp in btMultiBodyJointMotor to control maximum error resolution.
 2016-09-28 11:17:11 -07:00
erwin coumans 0936ae6600 expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world. 2016-09-27 12:13:45 -07:00
erwin coumans a325747dd4 pybullet premake, keep extension 2016-09-27 08:33:53 -07:00
Erwin Coumans 96c1ee4256 revert default contact 'erp' (error-reduction-parameter) from 0.8 to 0.2 
as it used to be.
 2016-09-26 07:55:30 -07:00
Erwin Coumans ed5aea74a1 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-26 07:16:51 -07:00
Erwin Coumans ffee956dde add VHACD, with the addition of Wavefront .obj export 2016-09-26 07:16:18 -07:00
erwin coumans e356f4f1f6 add test end-effector for Kuka iiwa (IK) 2016-09-22 19:48:26 -07:00
erwin coumans 310a330572 fix InverseKinematics+API for a case without tree (custom build Jacobian) 2016-09-22 13:27:09 -07:00
Erwin Coumans 89eef8e091 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-09-20 23:19:27 -07:00
Erwin Coumans e1ba6e9736 add simple pybullet robotcontrol.py example 2016-09-20 23:19:03 -07:00
erwin coumans 0a628f06cc decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm) 
tweak pr2 gripper.
 2016-09-20 12:37:13 -07:00
erwin coumans bb23f91578 disable some logging method 2016-09-19 14:40:17 -07:00
erwin coumans a4165adddc more tweak in pr2_gripper.urdf (VR), remove some collision meshes (until interaction issues are resolved) 2016-09-19 14:40:01 -07:00
erwin coumans 3eb149ca75 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2016-09-19 14:33:55 -07:00
erwin coumans a3aa8ef7f1 tune gripper parameters for VR demo 2016-09-19 14:31:47 -07:00
Erwin Coumans e488c72496 fix build issue 2016-09-19 10:19:51 -07:00
erwin coumans db3122233f remove that odd triangle in the origin of samurai castle (VR) 
add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance
 2016-09-19 07:02:43 -07:00
Erwin Coumans 8355f09b21 delete -> free due to the use of stb_image.h (which uses malloc) 2016-09-16 16:25:13 -07:00
Erwin Coumans 567b003654 separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction 
improvements in VR demo, add grasper etc.
 2016-09-16 00:57:00 +01:00
Erwin Coumans 1d88cf71e4 separate spinning friction (torsional friction around contact normal) from 
rolling friction (orthogonal to contact normal)
 2016-09-16 00:04:33 +01:00
Erwin Coumans 4d6a95017e default contact erp (m_erp2) was too low in physics server 
causing gripper to penetrate box
 2016-09-15 23:11:27 +01:00
Erwin Coumans f9679bd594 prevent an issue in TinyRendererSetup example 2016-09-14 00:30:58 +01:00
Erwin Coumans 5e09b17baf experimental Inverse Kinematics for KUKA iiwa exposed in 
shared memory api and pybullet. Will be extended for arbitrary bodies
and with target orientation (besides target position)
 2016-09-13 23:37:46 +01:00
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 ec46934e22 Merge remote-tracking branch 'bp/master' 2016-09-11 10:56:55 +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
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 3e23c793ad Merge remote-tracking branch 'bp/master' 2016-09-09 08:24:50 -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
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
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
Erwin Coumans (Google) f7522873f9 fix compile issue on Linux 2016-09-01 22:11:07 -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
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
Erwin Coumans 900fd86d58 fix R2D2GraspExample 2016-08-29 12:35:02 -07:00
Erwin Coumans 68efd7dd6e Merge remote-tracking branch 'bp/master' 2016-08-29 10:38:59 -07:00
Erwin Coumans 9fc438e742 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-29 10:38:51 -07:00
erwin coumans 4094b9f0df Disable 'm_robotSim.setNumSimulationSubSteps' because it is not needed at the moment 
Fix issue in contact/friction between btMultibody and btRigidBody (external force/torque of btRigidBody was not taken into account during contact/friction setup)
Allow 0.1 mm slop in contact, to avoid loosing contact. Todo: allow contacts with positive distance in multibody solver.
 2016-08-27 13:44:18 -07:00
Erwin Coumans 887e88a490 Merge remote-tracking branch 'bp/master' 2016-08-27 10:37:48 -07:00
Erwin Coumans fb3f2d896c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-27 10:37:35 -07:00
erwin coumans c5164e503f fix in structure alignment of btMultiBodyLinkDoubleData and btMultiBodyDoubleData 
causing serialization issue in  URDF/SDF loading in double-precision mode on Windows 32bit.
(it was fine on Mac/Linux 64bit)
bump serialization version to 2.85, as we change the file format
fix in name clash in makesdna.cpp -> intptr_t is already defined.
 2016-08-26 10:00:29 -07:00
Erwin Coumans 2861d2ae59 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-25 20:02:34 -04:00
Erwin Coumans 7db9a020b9 debug draw contact normals (1cm) use black color 2016-08-19 10:55:21 -07:00
erwin coumans 62d5b7c5c0 add single step simulation, using 'o' key. use 'i' key to suspend simulation first 
default background color a bit darker, to show debug lines
tweaked contact point rendering a bit
 2016-08-19 10:30:02 -07:00
erwin coumans a68c9ca845 avoid MT crash in VR/physics server due to printf from separate thread. 
add fps display in VR
use 1./240. internal substep for real-time physics sim in VR/physics server for more accurate robotics sim.
 2016-08-18 21:43:43 -07:00
Erwin Coumans 91839cb274 revert change of default position control in shared memory api/pybullet 2016-08-18 16:48:14 -07:00
erwin coumans 8c2b1386ce Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-18 15:54:43 -07:00
erwin coumans 2c636b52f7 bugfix: in torque control mode, torque index starts at 6. 2016-08-18 15:36:18 -07:00
Erwin Coumans 013a702b2f Merge remote-tracking branch 'bp/master' 2016-08-18 13:44:29 -07:00
Erwin Coumans ab8f498d18 avoid infinite recursion in b3Clock::usleep 2016-08-18 13:44:04 -07:00
Erwin Coumans d4485ca3d9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-08-18 13:42:18 -07:00
erwin coumans 5b0253ed47 Remove undesired assert, it makes pybullet mistakes fail in c++ 
Shared memory api/pybullet: by default, set joint motors in position PD mode with target 0, to maintain 0 joint angle.
pybullet: allow setJointControlMode(body, link, POSITION_CONTROL,targetPos etc.
 2016-08-18 13:10:28 -07:00
erwin coumans 6005e54aa1 Fix some inconsistencies in URDF file handling between btRigidBody and btMultiBody 
(rotation order and application of root-inertial-frame offset)
 2016-08-18 09:44:33 -07:00