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Author SHA1 Message Date
erwincoumans 2c13e70d1a make projective textures work in DIRECT+eglPlugin (see examples/pybullet/examples/projective_texture.py) 2018-10-05 19:24:44 -07:00
erwincoumans 111ffc784d Use 2560x2048 as default window/framebuffer size for eglPlugin. 2018-10-05 18:28:37 -07:00
erwincoumans 40d7e292f2 fix depth image for eglPlugin, also fix setRGBA color for eglPlugin. 2018-10-05 18:25:51 -07:00
Erwin Coumans 24ca5afe95 reverse ER_SEGMENTATION_MASK to ER_NO_SEGMENTATION_MASK so segmentation 
mask is rendered by default
 2018-10-04 14:14:24 -07:00
erwincoumans 8aff1fbd49 removed flags from loadURDF command. The flags are already available in m_data->m_flags in BulletUrdfImporter.cpp 2018-10-02 08:39:47 -07:00
bla 0f8b8388a6 eglPlugin, one more fix, remove graphics instances at resetAll 2018-10-02 08:13:51 -07:00
bla ae93c0878d bump up pybullet version to 2.2.7 (fixing egl/segmask took a few iterations) 2018-10-02 07:51:09 -07:00
erwincoumans da37f1d559 add glViewport after call to startRendering (some renderers call glViewport) 2018-10-02 07:49:13 -07:00
bla 1609f7da4c bump up pybullet version again 2018-10-01 18:54:35 -07:00
erwincoumans c9bd997acf Merge pull request #1910 from WenlongLu/create_status 
Two minor updates for PhysicsServerCommandProcessor
 2018-10-01 18:53:13 -07:00
erwincoumans a86db9c8c6 Merge pull request #1911 from erwincoumans/master 
fix EGL issue related to glViewport in startRender method
 2018-10-01 18:52:23 -07:00
bla 7cd962467e fix EGL issue related to glViewport in startRender method 2018-10-01 18:51:02 -07:00
Wenlong Lu 085984f003 update complete status for removing collision shape 2018-10-01 17:54:23 -07:00
Wenlong Lu 167520a5e6 pass plane constant 2018-10-01 17:38:24 -07:00
erwincoumans 6b63e81829 Merge pull request #1907 from erwincoumans/master 
scaling striding is 4 (scaling+object uid) instead of 3,
 2018-09-30 21:18:07 -07:00
erwincoumans bfafd9b0ae Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-30 20:02:32 -07:00
erwincoumans 6d89413336 scaling striding is 4 (scaling+object uid) instead of 3, also for transparent objects 2018-09-30 20:02:12 -07:00
erwincoumans 0ffa9a97bd scaling striding is 4 (scaling+object uid) instead of 3, also for transparent objects 2018-09-30 19:52:19 -07:00
erwincoumans 95d5da1cd9 Merge pull request #1906 from erwincoumans/master 
apply clang-format (on Mac, slightly different than running it on Win…
 2018-09-30 11:44:45 -07:00
Erwin Coumans 42ae4e81a8 apply clang-format (on Mac, slightly different than running it on Windows) 2018-09-30 11:43:57 -07:00
erwincoumans 85da5e922d Merge pull request #1905 from erwincoumans/master 
PyBullet Allow OpenGL/EGL hardware to render segmentation mask. Much faster OpenGL/EGL rendering for small images, resize glViewport
 2018-09-30 07:53:08 -07:00
erwincoumans 5bcd43711a PyBullet OpenGL/EGL hardware getCameraImage: use glViewport to reduce the glReadPixels calling cost dramatically for small images 
PyBullet Allow OpenGL/EGL hardware to render segmentation mask. Use pybullet.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX or pybullet.ER_SEGMENTATION_MASK
PyBullet.removeBody fix indexing bug (use foundIndex, not i)
PyBullet bump up version to 2.2.3
 2018-09-30 07:10:40 -07:00
erwincoumans 254edb61cb Merge remote-tracking branch 'bp/master' 2018-09-29 10:35:01 -07:00
erwincoumans 00ed0dce24 Merge pull request #1900 from crewmatt/master 
Update URDF Importer to process Sensor elements.
 2018-09-28 17:06:27 -07:00
erwincoumans 39bca74041 Merge remote-tracking branch 'bp/master' 2018-09-28 10:14:45 -07:00
erwincoumans df78380718 Merge pull request #1899 from WenlongLu/master 
Add const qualifiers to the double [] inputs in PhysicsClientC_API
 2018-09-26 19:11:53 -07:00
Wenlong Lu 8cdb514ffb missed one 2018-09-26 17:46:39 -07:00
Wenlong Lu 2681f5cd9f add const qualifiers to all double* inputs in PhysicsClientC_API 2018-09-26 17:24:40 -07:00
Wenlong Lu 3c0e57e025 add const qualifier to double [] inputs 2018-09-26 15:02:22 -07:00
Erwin Coumans cd2f111a10 update pybullet version, include *.* from OpenGLWindow 2018-09-25 17:06:32 -07:00
Erwin Coumans f20b7bb07c tweak pole IK demo 2018-09-25 06:22:06 +00:00
erwincoumans 180a9f5103 Merge pull request #1897 from erwincoumans/master 
Fix eglPlugin
 2018-09-24 08:07:26 -07:00
erwincoumans c1ba89a01c Fix eglPlugin 2018-09-24 08:06:28 -07:00
erwincoumans cdd56e4641 Merge pull request #1895 from erwincoumans/master 
Code-style consistency improvement: _clang-format applied
 2018-09-23 19:22:09 -07:00
erwincoumans ab8f16961e Code-style consistency improvement: 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
 2018-09-23 14:17:31 -07:00
erwincoumans d54c8395ac Merge pull request #1882 from lucasw/patch-1 
Spelling fix: on-way -> one-way
 2018-09-22 14:59:48 -07:00
erwincoumans cff111ba04 Merge pull request #1894 from erwincoumans/master 
allow to disable self-collision for a link-pair, only enable eglPlugin for Linux (disable eglPlugin for Win/Mac)
 2018-09-22 14:59:08 -07:00
erwincoumans b73b05e9fb add getClosestPoints.py example. 
allow to perform a getClosestPoints query with a collisionShape and world transform (position, orientation) that isn't part of the world.
(use createCollisionShape to create it)
add optional removeCollisionShape, for collision shapes only used in a query (and not used to create a body)
 2018-09-22 14:18:21 -07:00
erwincoumans cdf8c908ad add getClosestPoints.py example. 
allow to perform a getClosestPoints query with a collisionShape and world transform (position, orientation) that isn't part of the world.
(use createCollisionShape to create it)
 2018-09-22 13:17:09 -07:00
erwincoumans 64a7a3d82f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-21 17:33:31 -07:00
erwincoumans 278454ae17 allow to disable self-collision for a link-pair 2018-09-21 17:33:13 -07:00
Erwin Coumans 350adb5c7c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-21 09:56:25 -07:00
Erwin Coumans 47efe66017 disable eglPlugin from setup.py / pip pybullet on Windows and Mac (only enable on Linux) 2018-09-21 09:55:57 -07:00
erwincoumans 8d8f96c850 Merge pull request #1886 from erwincoumans/master 
pybullet, fix single step synchronous rendering, add missing files in pip version 2.1.8
 2018-09-20 09:26:58 -07:00
erwincoumans 874bbc91a3 Merge remote-tracking branch 'bp/master' 2018-09-20 09:08:56 -07:00
erwincoumans 1ec616362c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-20 09:08:46 -07:00
erwincoumans 616192f80a use grpc port -1 by default in PyBullet. add grpcClient.py and grpcServer.py 2018-09-20 09:07:47 -07:00
Erwin Coumans 0de99f224a fix compilation on ARM (Ubuntu 18.04, NVIDIA Xavier) 2018-09-19 16:18:06 -07:00
bla 3de295ca41 add missing files to MANIFEST.in for pybullet pip version 2018-09-19 08:43:55 -07:00
Lucas Walter fbf4d946c4 Spelling fix: on-way -> one-way 2018-09-18 07:40:22 -07:00
erwincoumans 0b08881ab8 wait until a frame is rendered, when using the COV_ENABLE_SINGLE_STEP_RENDERING command (Windows and Linux only) 2018-09-15 14:22:31 -07:00
erwincoumans d315673d3a Merge pull request #1879 from erwincoumans/master 
fix internal build / pybullet version bump
 2018-09-14 18:54:41 -07:00
erwincoumans 81f6a63490 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-14 17:17:20 -07:00
erwincoumans e6d74580c1 add single step rendering feature: 
while (1):
    stepSimulation()
    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SINGLE_STEP_RENDERING, 1)

disable single step using
pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SINGLE_STEP_RENDERING, 0)
 2018-09-14 17:17:11 -07:00
Erwin Coumans b0971b4beb fix our internal build 2018-09-13 10:20:38 -07:00
Erwin Coumans d909448ee3 bump up pybullet version again 2018-09-12 21:03:07 -07:00
erwincoumans 826ca0892a Merge pull request #1877 from erwincoumans/master 
bump up pybullet version to 2.1.5
 2018-09-12 20:34:24 -07:00
Erwin Coumans c8fe0f7fbc bump up pybullet version to 2.1.5 2018-09-12 20:33:52 -07:00
erwincoumans bd4717e9cc Merge pull request #1876 from erwincoumans/master 
use numpy to reshape image data to matplotlib compatible format
 2018-09-12 20:25:53 -07:00
erwincoumans 9553892770 PyBullet / BulletRobotics: 
Implement collisionFilterPlugin, use setCollisionFilterPair to enable or disable collision detection between specific pairs of objects.
Also, expose setCollisionFilterGroupMask as PyBullet API and in urdf using the tag <collision group="1" mask="2"/>.
See examples/pybullet/examples/collisionFilter.py for an example.
PyBullet default: Lower the warmstarting factor, for maximal coordinates rigid bodies for more stable simulation.
Add btCollisionWorld::refreshBroadphaseProxy to easier recreate the broadphase proxy without adding/removing objects to the world.
 2018-09-12 19:30:49 -07:00
erwincoumans bf3399d0e3 Merge remote-tracking branch 'bp/master' 2018-09-12 09:18:25 -07:00
Erwin Coumans 1efee29c27 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-12 08:20:03 -07:00
Erwin Coumans c83fa30daa use numpy to reshape image data to matplotlib compatible format 
fixes issue #1871
 2018-09-12 08:19:30 -07:00
erwincoumans 2a3a60ac64 Merge pull request #1874 from erwincoumans/master 
more egl plugin fixes, create stb_image_write.cpp (instead of magic defines in various source files)
 2018-09-11 14:14:40 -07:00
Erwin Coumans 23ecbab7b3 fix setup.py and pybullet to work better with eglPlugin on Linux 2018-09-11 13:24:35 -07:00
erwincoumans 87e8711b0a Merge pull request #1872 from RanTig/GetLinkStateFix 
Change b3GetLinkState to use numLinks in status handle
 2018-09-11 08:48:30 -07:00
Tigran Gasparian 58699258dd Change b3GetLinkState to use numLinks in status handle 
Changes the b3GetLinkState function to use numLinks from the
SharedMemoryStatus returned from RequestActualState instead of the
cached number of link value returned by b3GetNumJoints.

The cached value can be outdated when a new body is added and
SyncBodyInfo isn't used, while using the value in the status is always
up-to-date.
 2018-09-11 14:44:06 +02:00
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
erwincoumans ab84975ca9 Merge pull request #1870 from erwincoumans/master 
pybullet eglPlugin: fix Mac OSX build
 2018-09-10 12:23:36 -07:00
Erwin Coumans f26d4fdc4c pybullet eglPlugin: fix Mac OSX build 2018-09-10 08:55:47 -07:00
erwincoumans 1a047901ce Merge pull request #1869 from erwincoumans/master 
fixes in eglRendererPlugin
 2018-09-10 07:51:39 -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