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Author SHA1 Message Date
Erwin Coumans 3157093125 Implemented specular reflective lighting for OpenGL 3.x, everything looks shiny (will add APIs to make it less shiny ;-) 
Remove roof from kitchens/1.sdf, otherwise shadows and shinyness won't work (light is outside the room, bouncing against roof-top)
Make kuka_iiwa/model.urdf more smooth, use .obj for per-vertex normals (using Blender, import STL, export OBJ, enable triangles, normals and Z-UP, Y forward)
 2017-05-31 20:32:45 -07:00
erwincoumans 83f910711a Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API 
!!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed
Bump up pybullet to version 1.0.9
 2017-05-30 19:54:55 -07:00
erwincoumans 978dd5844d due to b3Assert, GwenOpenGLTest/premake4.lua depends on Bullet3Common 2017-05-29 22:09:07 -07:00
erwincoumans 4e03c36fa6 add pybullet.multiplyTransforms and pybullet.invertTransform 
use btAssert instead of assert (glGetError is really slow)
shift default light-position a little bit, to make faces different color
 2017-05-29 21:55:58 -07:00
erwincoumans 5436b8f048 print better error warning, in case the physics client/server version mismatch. 
fix in b3HashString
remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!)
move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder.
PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
 2017-05-28 17:05:18 -07:00
erwincoumans c36792c950 fix bodyIndex -> bodyUniqueId in pybullet. 2017-05-28 13:30:20 -07:00
erwincoumans f9c53b39a2 fix pybullet build on some MSVC versions 2017-05-28 09:48:12 -07:00
Erwin Coumans b645963879 expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...) 
Bullet C-API b3ChangeDynamicsInfoSetSpinningFriction/RollingFriction/Resitution
b3PhysicsParamSetRestitutionVelocityThreshold, / pybullet.setPhysicsEngineParameter restitutionVelocityThreshold:
if the velocity is below this threshhold, the restitution is zero (this prevents energy buildup at near-resting state)
pybullet restitution.py example.
 2017-05-26 18:14:38 -07:00
Erwin Coumans 8c6d4a4c85 also initialize near/far for depth shader in TinyRenderer 2017-05-26 09:45:26 -07:00
Erwin Coumans 9d78809a55 Merge remote-tracking branch 'bp/master' 2017-05-26 09:23:28 -07:00
Erwin Coumans 723b356667 also discard pixels in front of nearplane 2017-05-25 19:55:55 -07:00
erwincoumans f6643b4e5f Merge pull request #1150 from erwincoumans/master 
TinyRenderer: discard pixels beyond farplane
 2017-05-25 17:52:39 -07:00
Erwin Coumans 2b9c67b07c TinyRenderer: discard pixels beyond farplane 
pybullet: printf build date/time
 2017-05-25 17:25:14 -07:00
erwincoumans dcdb3d40ba Merge pull request #1149 from erwincoumans/master 
use a fixed joint instead of crashing for unsupported joint types (pl…
 2017-05-25 14:57:45 -07:00
Erwin Coumans e023c012b4 TinyRendererVisualShapeConverter set near/far for its own camera. 2017-05-25 13:39:36 -07:00
Erwin Coumans e6180ef98a use a fixed joint instead of crashing for unsupported joint types (planar, floating joint) 2017-05-25 13:02:20 -07:00
erwincoumans 4388a6ea02 Merge pull request #1147 from erwincoumans/master 
minor fixes, increase max visual shape path length from 128 to 1024 (bump up version of C-API/pybullet, since it breaks binary compatibiltiy)
 2017-05-25 11:24:50 -07:00
Erwin Coumans f090752cbb bump up VISUAL_SHAPE_MAX_PATH_LEN from 128 to 1024, some google3 directories are loooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooong :-) 2017-05-25 10:56:01 -07:00
Erwin Coumans 143a8dd239 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-24 19:57:53 -07:00
Erwin Coumans 40db4998b9 Merge remote-tracking branch 'bp/master' 2017-05-24 19:57:28 -07:00
Erwin Coumans 9743bb387c give some pure-virtual methods default empty implementation, avoid breaking some internal research code 2017-05-24 19:30:06 -07:00
Erwin Coumans 1af8939fd2 fix unused variables 2017-05-24 16:44:43 -07:00
erwincoumans 5103f3b72d Merge pull request #1146 from jietan/pullRequest 
Pull request to update to the latest minitaur agent and env
 2017-05-24 16:26:17 -07:00
erwincoumans 044ac8d10b Merge pull request #1145 from erwincoumans/master 
Improve debug text/line rendering, can be use to draw frames and text  in local coordinate of an object / link.
 2017-05-24 14:09:17 -07:00
Erwin Coumans 84d09cc18f Split CommonGfxVertex3D into two different ones, GfxVertexFormat0 and GfxVertexFormat1 
Rewrite  GLInstancingRenderer::drawTexturedTriangleMesh
 2017-05-24 13:05:16 -07:00
Jie Tan 1d0db4ec2e update to the latest agent and environment. 2017-05-24 11:20:42 -07:00
Erwin Coumans 344bb3f350 fix premake4.lua build file 2017-05-24 10:29:22 -07:00
Erwin Coumans 5e2599863d trackObject -> parentObject 
trackLinkIndex -> parentLinkIndex
add example debugDrawItems.py
 2017-05-24 09:06:15 -07:00
Erwin Coumans 9f7d7fecd5 more rendering fixes 2017-05-23 23:34:55 -07:00
Erwin Coumans df1b5b6ca5 fix shader issue 2017-05-23 23:17:57 -07:00
Erwin Coumans 2d04d39fcf bump up pybullet version, include <string.h> for memset 2017-05-23 22:41:08 -07:00
Erwin Coumans 0f63e7a2f6 Merge remote-tracking branch 'bp/master' 2017-05-23 22:06:07 -07:00
Erwin Coumans 7bb802a91b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-23 22:05:38 -07:00
Erwin Coumans db008ab3c2 Improve debug text/line rendering, can be use to draw frames and text in local coordinate of an object / link. 
example:
kuka = p.loadURDF("kuka_iiwa/model.urdf")
p.getNumJoints(kuka)
pybullet.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],trackObjectUniqueId=2,trackLinkIndex=6)
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],trackObjectUniqueId=2,trackLinkIndex=6)
Also allow to render text using a given orientation (instead of pointing to the camera), example:
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textOrientation=[0,0,0,1], trackObjectUniqueId=2,trackLinkIndex=6)
Add drawTexturedTriangleMesh, for drawing 3d text.
Expose readSingleInstanceTransformToCPU, to extract position/orientation from graphics index.
updateTexture: allow to not flip texels around up axis
 2017-05-23 22:05:26 -07:00
Jie Tan 18fd1a003f remove redundant and potentially confusing data 2017-05-23 16:34:13 -07:00
erwincoumans 4f3d60f4d0 Merge pull request #1142 from jietan/pullRequest 
add back sonnet dependency. If sonnet is not installed, fall back to …
 2017-05-23 10:05:36 -07:00
erwincoumans f63ca87049 Merge pull request #1143 from YunfeiBai/master 
Add kuka grasping block playback.
 2017-05-23 10:05:15 -07:00
yunfeibai dacdcb0508 Add the pybullet example. 2017-05-22 22:26:57 -07:00
yunfeibai d383799d97 Merge remote-tracking branch 'upstream/master' 2017-05-22 22:23:55 -07:00
yunfeibai 3eb974f66f Add kuka grasping block playback. 2017-05-22 22:23:01 -07:00
Jie Tan 671c4bf10e add back sonnet dependency. If sonnet is not installed, fall back to simpleAgent that does not need sonnet. 2017-05-22 20:57:18 -07:00
erwincoumans 2f3844e5db Merge pull request #1131 from ahundt/cmake 
cmake python config bugs fixed
 2017-05-22 20:33:45 -07:00
Erwin Coumans 9420ecded3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-21 19:49:26 -07:00
Erwin Coumans 2939c7ae36 Merge remote-tracking branch 'bp/master' 2017-05-21 19:49:09 -07:00
Erwin Coumans 19933a9454 Merge remote-tracking branch 'bp/master' 2017-05-21 12:16:34 -07:00
Erwin Coumans 1ce894b3e9 add main_imgui.cpp 2017-05-21 12:16:27 -07:00
Erwin Coumans aa2787520b examples\pybullet\examples\humanoid_knee_position_control.py : allow both knees to be actuated against limit 2017-05-21 11:35:06 -07:00
erwincoumans 148716d0ff Merge pull request #1135 from erwincoumans/master 
disable Grasp Soft Body/SoftBody coupling demo unless USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD is defined, fixed related hang in experimental 'loadBunny' command
 2017-05-21 11:00:43 -07:00
Erwin Coumans fd40ba424b test for knee joint limits under position control 2017-05-21 11:00:15 -07:00
erwincoumans 3c4fd2ce8c Merge pull request #1132 from ahundt/btsoftbody 
btsoftbody fix #1106, compiler error in App_PhysicsServer_SharedMemory
 2017-05-21 06:59:40 -07:00
erwincoumans e0865ee8ed Merge pull request #1133 from lunkhound/pr-remove-dcast 
fix a crash in example browser when enabling multi-threading
 2017-05-21 06:56:14 -07:00
Erwin Coumans 4dcf2b82b6 bump up pybullet to version 1.0.7 2017-05-21 06:53:06 -07:00
Erwin Coumans b19c209dbc The softbody/bunny test is very experimental and shouldn't be enabled in the example browser, unless USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD is defined. I fixed a few bugs that cause the hang. 2017-05-21 06:50:53 -07:00
Andrew Hundt 1e83630c1d cmake minor fixes 2017-05-21 09:32:00 -04:00
Lunkhound 5bc9d431a0 CommonRigidBodyMTBase: replace dynamic_cast (which crashes without RTTI) with static_cast 2017-05-21 03:14:09 -07:00
Andrew Hundt 655def023e python versions can vary by default unless EXACT_PYTHON_VERSION=ON 
Still ensures library version matches interpreter version exactly.
 2017-05-20 21:58:03 -04:00
Andrew Hundt e719da3497 btsoftbody fix #1106, compiler error in App_PhysicsServer_SharedMemory 
BulletSoftBody was not linking to App_PhysicsServer_SharedMemory when USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD was enabled.
 2017-05-20 21:14:00 -04:00
Andrew Hundt 263ccec18a cmake python config bugs fixed 
Python and pybullet remain optional with these changes.
A specific python version can now be selected by setting PYTHON_VERSION_PYBULLET.
The python library version must now match the interpreter version exactly.
If all required python dependencies are found, pybullet is now enabled by default.
Changes incorporate the following BSD licensed cmake code:
https://github.com/BVLC/caffe/blob/32bf5c7ad804ad683aa5ea9382209e9284451e5f/CMakeScripts/FindNumPy.cmake
https://github.com/NikolausDemmel/CMake/pull/2/files
https://github.com/Kitware/CMake/blob/86578eccf2e82286248796bad1032cd0e3a5e1e2/Modules/SelectLibraryConfigurations.cmake
 2017-05-20 20:47:46 -04:00
erwincoumans 4ba4c11734 Merge pull request #1129 from jietan/pullRequest 
remove sonnet dependency
 2017-05-18 16:37:49 -07:00
Jie Tan 8a6a46d180 remove sonnet dependency 2017-05-18 16:12:38 -07:00
Erwin Coumans 00a5956dc2 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-18 15:10:45 -07:00
Erwin Coumans 16a8dceb73 fix warning 2017-05-18 08:31:40 -07:00
Erwin Coumans b8e20d502b Merge remote-tracking branch 'bp/master' 2017-05-18 08:31:17 -07:00
Erwin Coumans 6722204296 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-18 08:31:08 -07:00
Erwin Coumans 88e81d6712 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-17 21:22:30 -07:00
Erwin Coumans f5d7aac5cc bump up pybullet to 1.0.6, prepare to tag Bullet 2.87 release 2017-05-17 21:21:33 -07:00
erwincoumans d40787f3fd Merge pull request #1128 from erwincoumans/master 
.obj file caching, update VR camera even when setRealTimeSimulation(0) + position-only tracking
 2017-05-17 21:19:01 -07:00
Erwin Coumans a2a83975f2 update pybullet quickstart guide pdf from https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# 2017-05-17 19:42:28 -07:00
Erwin Coumans c2fdffba35 pybullet.enableJointForceTorqueSensor kwlist was not properly terminated 2017-05-17 19:37:51 -07:00
Erwin Coumans 19295f2859 enable file caching, currently only for Wavefront .obj files. You can disable file caching using 
pybullet.setPhysicsEngineParameter(enableFileCaching=0)
Allow VR camera tracking only using position tracking, no orientation tracking (use
pybullet.setVRCamera([posX,posY,posZ],trackObjectFlag=0 or pybullet.VR_CAMERA_TRACK_OBJECT_ORIENTATION)
 2017-05-17 19:29:12 -07:00
Erwin Coumans 972660f825 Only initialized values if provided (and don't initialize default if not provided!) 
fixes getCameraImage(width,height) crash
 2017-05-17 17:25:34 -07:00
Erwin Coumans 9c4a5f9336 update VR camera even if setRealTimeSimulation(0) 
also update w component in setVRCameraState orientation
 2017-05-17 16:29:30 -07:00
Erwin Coumans 6db6f45135 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-17 10:28:19 -07:00
Erwin Coumans ba6652b73a Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-16 18:03:05 -07:00
erwincoumans 40f923647a Merge pull request #1127 from erwincoumans/master 
fix issue when re-connecting to physics server, after removeBody.
 2017-05-16 17:40:40 -07:00
Erwin Coumans ea10c6d335 fix issue when re-connecting to physics server, after removeBody. 2017-05-16 17:19:45 -07:00
erwincoumans ba22f4a4dc Merge pull request #1126 from erwincoumans/master 
allow to enable/disable VR picking and VR teleport. Disabling VR pick…
 2017-05-16 13:55:47 -07:00
Erwin Coumans 2f57c259fd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-16 13:55:29 -07:00
Erwin Coumans 433d11d8cf Add a btIDEbugDraw::clearLines, helps multi-threaded rendering of lines (while updating those lines in a dynamics world in a different thread) 
Expose COV_ENABLE_VR_RENDER_CONTROLLERS, to enable/disable rendering of controllers (and some frames) in VR
Expose COV_ENABLE_RENDERING to enable/disable rendering.
Fix some multi-threading issues (potential crashes), related to debug drawing/rendering in one thread, while changing the dynamics world/removing/resetSimulation in a different thread.
 2017-05-16 12:19:03 -07:00
Erwin Coumans 4dea68e43e allow to enable/disable VR picking and VR teleport. Disabling VR picking will also disable the rendering of the VR controller frames. 2017-05-15 11:39:39 -07:00
erwincoumans 945b9b1b1d Merge pull request #1125 from erwincoumans/master 
GLInstancingRenderer: don't crash but assert/return -1 when exceeding vertex capacity
 2017-05-15 09:37:28 -07:00
Erwin Coumans a554c250a7 GLInstancingRenderer: don't crash but assert/return -1, if the # vertices exceeds the maximum capacity. 2017-05-15 09:02:49 -07:00
Erwin Coumans dfe618bd62 initialize UrdfGeometry members 2017-05-15 07:59:07 -07:00
erwincoumans cd78379899 Merge pull request #1124 from erwincoumans/master 
initialize alpha component of color
 2017-05-14 21:34:56 -07:00
Erwin Coumans 11fa56513b initialize alpha component of color 2017-05-14 21:14:56 -07:00
erwincoumans 4e72ff4a30 Merge pull request #1123 from erwincoumans/master 
clear unused visual shape data, bump up pybullet version, update pybullet quickstart guide pdf
 2017-05-14 19:29:48 +00:00
Erwin Coumans 59ece491bd Merge remote-tracking branch 'bp/master' 2017-05-14 12:22:02 -07:00
Erwin Coumans 23b8579247 avoid some 'invisible' warning/error (C++/C mix) 2017-05-14 12:00:28 -07:00
Erwin Coumans 987b9541a5 clear unused visual shape data (was de-allocated at the end, not during each 'resetSimulation') 2017-05-14 11:09:32 -07:00
Erwin Coumans 2bfaa384ca Merge remote-tracking branch 'bp/master' 2017-05-13 20:59:30 -07:00
Erwin Coumans 94a76a2003 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-13 19:22:09 -07:00
Erwin Coumans 196d3248b4 update pybullet quickstart guide, bump up pybullet to version 1.0.4 (will update pypi) 2017-05-13 19:13:32 -07:00
erwincoumans f74ef9dd76 Merge pull request #1122 from erwincoumans/master 
added getJointStates and make humanoid_running.py use it to reduce Py…
 2017-05-14 02:05:44 +00:00
Erwin Coumans bb4c195118 added getJointStates and make humanoid_running.py use it to reduce Python<->C++ calling overhead a lot. 2017-05-13 18:07:49 -07:00
Erwin Coumans 3431b44a2b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-13 16:24:11 -07:00
erwincoumans 6ca6f5541f Merge pull request #1121 from erwincoumans/master 
don't render objects with zero alpha, expose the changeVisualShape RGBA color
 2017-05-13 21:25:43 +00:00
Erwin Coumans 8b90885cf6 more compile fixes 2017-05-13 13:58:05 -07:00
Erwin Coumans e954374e56 build system fixes 2017-05-13 13:50:35 -07:00
Erwin Coumans ef7a7f9004 Potential fix for Linux slow performance (usleep(0) takes a lot of time) 
Remove b3RobotSimAPI, use RobotSimulator/b3RobotSimulatorClientAPI.h instead
 2017-05-13 13:37:49 -07:00
Erwin Coumans 0944790577 migrating from b3RobotSimAPI to b3RobotSimulatorClientAPI (step by step) 
allow to run the client/server code in the example browser without this b3RobotSimAPI hack.
 2017-05-13 11:15:20 -07:00