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Author SHA1 Message Date
erwincoumans f517b03534 Expose pushProfileTimer / pop ProfileTimer in PhysicsClient API to benchmark Python parts of PyBullet. 
reduce 'm_cooldownTime' from 1000 microseconds to 100 microseconds (overhead in raycast is too large)
If needed, we can expose this cooldown time.
Replace malloc by btAlignedObjectArray (going through Bullet's memory allocator)
 2018-06-16 06:19:49 -07:00
erwincoumans bb8cbcdaae Merge remote-tracking branch 'bp/master' 2018-06-16 06:06:18 -07:00
erwincoumans 5b3e43d4d8 Merge pull request #1760 from RanTig/ParallelRaycasts 
Adds multithreading support for batch ray casts.
 2018-06-16 05:54:34 -07:00
erwincoumans c9bbd80dc0 Merge pull request #1762 from alexis-jacq/patch-2 
isAlive method forcing done=False for halfcheetah
 2018-06-16 05:32:42 -07:00
Alexis David Jacq 6adea4964f forgot one "isAlive" to change 2018-06-16 14:00:05 +02:00
Alexis David Jacq 50b5edd7b5 isDone instead of isAlive 2018-06-16 13:53:05 +02:00
Erwin Coumans fbbd675ed6 expose PyBullet API to wakeup/put objects to sleep, enable/disable deactivation 
fix wakeup -> reset deactivation clock
 2018-06-15 21:26:26 -07:00
YunfeiBai 1c0de3c4cb Add the pdControlPlugin to the joint control C API, and add the PD control mode (also available in pybullet). Modify the pdControl pybullet example to use the PD control mode with setJointMotorControl API. 2018-06-15 17:59:26 -07:00
Erwin Coumans bb0d70d98b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-06-15 10:27:37 -07:00
Erwin Coumans 1e559feb8f add preliminary vision60 urdf model (no real sizes, no real masses etc) 2018-06-15 10:26:42 -07:00
Alexis David Jacq 292a3f1cf6 methode isAlive 
Method def isAlive(self), which defaults to return self._alive < 0, and each environment can override this method (Half Cheetah would implement return False)

(In response to https://github.com/alexis-jacq/bullet3/commit/bea468fb93041149fb7dd0373a19000b1ba1ab52)
 2018-06-15 17:55:20 +02:00
Tigran Gasparian 54986593c5 . 2018-06-15 17:46:31 +02:00
Tigran Gasparian 0b1dca3d9c Updates the documentation for the pybullet function rayTestBatch to include the numThreads parameter. 2018-06-15 17:46:12 +02:00
Alexis David Jacq a57c480f28 Update gym_locomotion_envs.py 
As suggested in https://github.com/bulletphysics/bullet3/pull/1759. The default isDone lets done = alive<0, and a special case is made for halfcheetah, forcing done=False. 
I had to pass the 'alive' condition as an additive parameter of WalkerBaseBulletEnv.
 2018-06-15 17:38:35 +02:00
Erwin Coumans 976fea4eca fix saveRestoreState.py example 2018-06-15 08:31:39 -07:00
Tigran Gasparian d244cf6061 Changes the default number of rays per thread from 32 to 16, when the user lets Bullet decide. 2018-06-15 17:13:10 +02:00
Tigran Gasparian 08409cae9f Adds multithreading support for batch ray casts. 
To enable the feature, enable the BULLET2_MULTITHREADING option.

Increases the number of rays that can go in a batch request by storing
them in the shared memory stream instead of the shared memory command.
Adds the API b3RaycastBatchSetNumThreads to specify the number of
threads to use for the raycast batch, also adds the argument numThreads
to the pybullet function rayTestBatch.
Rays are distributed among the threads in a greedy fashion there's a shared
queue of work, once a thread finishes its task, it picks the next
available ray from the task. This works better than pre-distributing the
rays among threads, since there's a large variance in computation time per ray.

Some controversial changes:
- Added a pointer to PhysicsClient to the SharedMemoryCommand struct, this
was necessary to keep the C-API the same for b3RaycastBatchAddRay, while
adding the ray to the shared memory stream instead of the command
struct. I think this may be useful to simplify other APIs as well, that
take both a client handle and a command handle.
- Moved #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE to
SharedMemoryPublic. This was necessary for the definition of
MAX_RAY_INTERSECTION_BATCH_SIZE.
 2018-06-15 16:47:04 +02:00
Erwin Coumans 0080cf7ed1 bump up pybullet version to 2.0.7 2018-06-13 22:36:12 -07:00
erwincoumans 997211650e Merge pull request #1757 from erwincoumans/master 
PyBullet.loadURDF, expose flags=URDF_INITIALIZE_SAT_FEATURES
 2018-06-14 02:35:09 +00:00
erwincoumans 25c5e87dc2 PyBullet.loadURDF, expose flags=URDF_INITIALIZE_SAT_FEATURES 2018-06-13 15:35:56 -07:00
erwincoumans 946a59f2fe Merge pull request #1756 from bulletphysics/erwincoumans-patch-4 
Update btConvexConvexAlgorithm.cpp
 2018-06-13 15:30:58 +00:00
erwincoumans 5f203df65a Update btConvexConvexAlgorithm.cpp 2018-06-13 07:47:14 -07:00
erwincoumans b75c63f2a2 Merge pull request #1755 from erwincoumans/master 
path -> const
 2018-06-13 04:40:38 +00:00
Erwin Coumans c27fb4003e path -> const 2018-06-12 21:26:34 -07:00
erwincoumans ce9f29e416 Merge pull request #1752 from bulletphysics/erwincoumans-patch-2 
Update b3RobotSimulatorClientAPI_NoDirect.h
 2018-06-13 04:18:26 +00:00
erwincoumans 4f0959a136 Update b3RobotSimulatorClientAPI_NoDirect.h 2018-06-12 21:17:43 -07:00
erwincoumans 6376197e5e Merge pull request #1749 from erwincoumans/master 
remove getLinkState from API, it automatically calculated forwardKine…
 2018-06-13 03:38:36 +00:00
Erwin Coumans e24da97140 revert GJK change yet again, some degenerate case / regression 2018-06-12 19:52:38 -07:00
erwincoumans ce47fcc7f2 Merge pull request #1751 from bulletphysics/erwincoumans-patch-1 
Update btOverlappingPairCache.h
 2018-06-13 02:50:05 +00:00
erwincoumans 437d66f9b4 Update btOverlappingPairCache.h 
processAllOverlappingPairs : don't call own method, call the default one without dispatchInfo. Thanks James Dolan, fixes Issue #1750
 2018-06-12 19:04:31 -07:00
erwincoumans 08d84d6ce3 fix getLinkState usage 2018-06-12 17:00:16 -07:00
erwincoumans 4d6741f5cd PyBullet: expose STATE_LOGGING_ALL_COMMANDS and STATE_REPLAY_ALL_COMMANDS 
See examples/pybullet/examples/commandLogAndPlayback.py for an example.
 2018-06-12 16:56:45 -07:00
erwincoumans 459d07a302 add example for enableSAT, using separating axis test (instead of GJK) for contact between polyhedral convex hull shapes (and convex hull vs triangle in a concave triangle mesh) 2018-06-12 16:10:49 -07:00
erwincoumans 97c6937388 Simplify GJK. Still needs double precision for large differences of feature scales. 
Extract faces directly from btConvexHullComputer (in initializePolyhedralFeatures), instead of reconstructing them, thanks to Josh Klint in #1654
PyBullet: use initializePolyhedralFeatures for convex hulls and boxes (to allow SAT)
PyBullet: expose setPhysicsEngineParameter(enableSAT=0 or 1) to enable Separating Axis Test based collision detection for convex vs convex/box and convex versus concave triangles (in a triangle mesh).
 2018-06-12 16:08:46 -07:00
erwincoumans a342af0382 remove getLinkState from API, it automatically calculated forwardKinematics and propagates velocities, which is very expensive. 2018-06-11 23:49:34 -07:00
erwincoumans 9f79011582 Merge pull request #1748 from erwincoumans/master 
different way of sorting pairs,  exposed a few more methods in the C++ b3RobotSimulatorClientAPI
 2018-06-12 01:00:04 +00:00
erwincoumans 62485abafe PyBullet: disable deterministic pairs by default 
PyBullet: Only set static when sleeping is enables (todo: figure out issue with determinism)
 2018-06-11 17:32:44 -07:00
Erwin Coumans ad0c7ecaa2 different way of sorting pairs (using indexing), don't 'clear' all pairs. 2018-06-11 14:42:26 -07:00
Erwin Coumans 38469deec7 getNumLinks -> getNumDofs, to make sure fixed objects don't transfer activation state 2018-06-11 11:41:33 -07:00
erwincoumans fc61a3531e Merge remote-tracking branch 'bp/master' 2018-06-11 08:35:14 -07:00
erwincoumans 6fb3cf7a43 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-06-11 08:34:37 -07:00
erwincoumans cb0e98c0a9 Merge pull request #1747 from erwincoumans/master 
remove ANYmal meshes
 2018-06-11 14:47:40 +00:00
Erwin Coumans e74f86d148 remove ANYmal meshes 2018-06-11 07:44:05 -07:00
erwincoumans 6705d2d649 Merge pull request #1743 from erwincoumans/master 
enable more unit tests in PyBullet, add BulletRobotics for premake build.
 2018-06-11 02:06:46 +00:00
erwincoumans 3eebcd40ca exposed a few more methods in the C++ b3RobotSimulatorClientAPI (_NoDirect base class) 2018-06-09 19:40:12 -07:00
erwincoumans 7ac3e263ab add saveStateToMemory/restoreStateFromMemory/setAdditionalSearchPath/getAPIVersion to Bullet Robotics API. 2018-06-09 13:54:22 -07:00
erwincoumans 0cec85626f enable more unit tests in PyBullet. 
return Py_None if no user data found, to pass the test.
enable m_deterministicOverlappingPairs by default.
if m_deterministicOverlappingPairs, sort the collision pairs.
 2018-06-09 12:19:29 -07:00
erwincoumans 046a86cd84 add premake4.lua build for BulletRobotics target, C++ API, similar to PyBullet. Use BulletRobotics target for App_HelloBulletRobotics (without GUI) and App_RobotSimulator 2018-06-08 19:14:03 -07:00
erwincoumans 8a70afa4f6 Merge pull request #1736 from erwincoumans/master 
remove some warnings
 2018-06-06 19:22:19 -07:00
Erwin Coumans 6ca3fe18f5 fix previous commit 2018-06-06 16:33:52 -07:00