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3d499c8a7a4625426bb67514db97b7725e1f52bd
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Author SHA1 Message Date
a 3d499c8a7a pybullet: added EGL render device and window_backend option. 
EGL review.
EGL dynamic loading, windowType to int
moved to glad2
Require GL 3.3 as GLInstancingRenderer.cpp uses glVertexAttribDivisor
glad2 update with dynamic X11 added
removed old file
build fix
fix mac/win
EGL w/o c++11, off by default
fix premake
fixup: premake fix 2
 2018-08-30 13:24:25 +02:00
erwincoumans 4d00beefbb Merge pull request #1849 from madebr/fix_1827 
Fix for bug #1827
 2018-08-29 20:54:31 -07:00
erwincoumans 65175425b0 Merge pull request #1848 from erwincoumans/master 
more fixes related to islands
 2018-08-27 08:50:46 -07:00
Erwin Coumans 2668b89740 fix another island issue 2018-08-26 22:25:39 -07:00
erwincoumans 8cac231890 Merge pull request #1847 from erwincoumans/master 
Fix some deactivation issues with btMultiBodyDynamicsWorld, should al…
 2018-08-26 18:38:34 -07:00
Erwin Coumans 72c48870b0 after picking in a multibody demo, allow sleeping for rigid bodies 2018-08-26 18:07:28 -07:00
Erwin Coumans 186ddb81d8 fix tab/space issue in Python file 
fix determinism issue introduced in previous commit
 2018-08-26 17:17:42 -07:00
Erwin Coumans 6ab6cf0bdb test if different broadphase maintains determinism 2018-08-26 16:49:17 -07:00
Erwin Coumans ff43cea263 Fix some deactivation issues with btMultiBodyDynamicsWorld, should also improve performance for PyBullet with larger worlds 
(even when sleeping is disabled, islands are split)
 2018-08-26 16:14:36 -07:00
erwincoumans d5514ef68d Merge pull request #1846 from erwincoumans/master 
also drop 'model://' from URDF file names (like we drop package://)
 2018-08-26 11:40:13 -07:00
Erwin Coumans 3036a6d2bc also drop 'model://' from URDF file names (like we drop package://) 2018-08-26 09:33:51 -07:00
erwincoumans 1bc3cec547 Merge pull request #1844 from erwincoumans/master 
remove leading space
 2018-08-25 11:55:37 -07:00
Erwin Coumans 593380b73a remove leading space 2018-08-24 16:33:18 -07:00
erwincoumans 4eb0598e8e Merge pull request #1838 from gkjohnson/fix-urdf-xml-version 
Change URDF xml version from "0.0" to "1.0"
 2018-08-23 23:08:48 -07:00
erwincoumans 78946c8ca7 Merge pull request #1842 from crewmatt/crewmatt-ikoriginalpositions 
Allow current positions for Calculate IK.
 2018-08-23 23:07:48 -07:00
erwincoumans aace31c1fa Merge pull request #1843 from rhaschke/master 
preserve constness to avoid compiler warnings
 2018-08-23 23:06:54 -07:00
Erwin Coumans 61b7591b8e expose choice of contraint solver in PyBullet, with switchConstraintSolver example 2018-08-23 23:04:17 -07:00
Robert Haschke beb3dd6196 reduce diff 2018-08-24 00:34:16 +02:00
Robert Haschke 5088f71e7f preserve constness to avoid compiler warnings 2018-08-24 00:29:54 +02:00
Garrett Johnson 711b37bea9 Change URDF xml version from "0.0" to "1.0" 2018-08-16 12:44:43 -07:00
Colin Basnett 5bdfba1ea6 Fix for bug #1827 2018-08-14 19:36:42 +02:00
erwincoumans d44571a4b3 Merge pull request #1832 from erwincoumans/master 
fix parameter mismatch in SerialChains.cpp
 2018-08-10 02:03:12 +00:00
Erwin Coumans 6d53f1a6d9 fix parameter mismatch in SerialChains.cpp 2018-08-09 17:15:54 -07:00
erwincoumans 2c425f72fe Merge pull request #1831 from erwincoumans/master 
bump up pybullet version, revert linear slop
 2018-08-09 23:56:29 +00:00
Erwin Coumans 90e08b41a5 bump up pybullet version 2018-08-09 16:53:11 -07:00
Erwin Coumans 15e831ab99 revert default linear slop, need to handle restitution separately 2018-08-09 16:49:25 -07:00
Erwin Coumans d6cf60ab83 Merge remote-tracking branch 'bp/master' 2018-08-09 16:48:55 -07:00
erwincoumans 1410c84824 Merge pull request #1830 from erwincoumans/master 
add missing SerialChains.cpp file to premake4.lua
 2018-08-09 23:31:03 +00:00
Erwin Coumans 07b21ca4a2 add missing SerialChains.cpp file to premake4.lua 2018-08-09 16:30:20 -07:00
erwincoumans ec5cc04680 Merge pull request #1818 from jslee02/multibody_mlcp_solver_v2 
Add MLCP constraint solver for multibody
 2018-08-09 22:54:52 +00:00
erwincoumans 8ca9e66294 Merge pull request #1829 from erwincoumans/master 
data: add license files (mostly copied from the URDF files)
 2018-08-09 22:51:46 +00:00
Erwin Coumans d3d0d948cc data: add license files (mostly copied from the URDF files) 2018-08-09 15:50:39 -07:00
Jeongseok Lee 3627407041 Remove Lemke from SerialChains demo 2018-08-07 15:27:54 -07:00
Jeongseok Lee 48e5a3a9ed Cleanup SerialChains demo 2018-08-07 15:18:58 -07:00
Jeongseok Lee 340236ee29 Fix copy & paste mistake 2018-08-07 15:16:46 -07:00
Jeongseok Lee 777ffac5c2 Fix typo in demo name: MultiDofCreateFunc --> MultiDof 2018-08-06 10:42:25 -07:00
Jeongseok Lee e8e97d39fe Merge remote-tracking branch 'upstream/master' into multibody_mlcp_solver_v2 2018-08-06 10:34:43 -07:00
Erwin Coumans 56e7333941 bump up pybullet version 2018-08-04 09:58:15 -07:00
erwincoumans 6fe1b000e5 Merge pull request #1820 from erwincoumans/master 
fix previous revert of btMultiBody.cpp
 2018-08-03 18:05:59 -07:00
Erwin Coumans 684b69f4dd fix applied too fast 2018-08-03 17:57:09 -07:00
Erwin Coumans 02b0e34bda v_ptr 2018-08-03 17:53:07 -07:00
erwincoumans 961d8adad1 Merge pull request #1806 from erwincoumans/master 
prepare build system(s) for collisionFilterPlugin
 2018-08-03 17:43:13 -07:00
Erwin Coumans 97baccd1a5 revert regression in btMultiBody.cpp 2018-08-03 17:38:01 -07:00
Jeongseok Lee 809fb3ed49 Use btAssert instead of assert 2018-08-03 13:46:59 -07:00
Jeongseok Lee 89c6a83ae9 Add MLCP constraint solver for multibody 2018-08-02 22:53:30 -07:00
erwincoumans 7d38cab1aa Merge pull request #1811 from RanTig/SimulationSteppedNotification 
Adds a simulation stepped notification
 2018-08-02 20:34:22 +02:00
Tigran Gasparian d93980f89f Adds a simulation stepped notification 
This notification is called when the simulation is stepped, regardless
of whether any objects have moved.
 2018-08-01 17:49:58 +02:00
Erwin Coumans 08b5e6d766 add collisionFilterPlugin to pybullet plugin, also apply quat->euler fix for singular cases 2018-07-30 17:53:37 +02:00
Erwin Coumans 2000ba9058 handle singularity (gimbal lock) in quaternion -> euler conversion, 
from https://github.com/ros/urdfdom_headers/blob/e7e0972a4617b8a5df7a274ea3ba3b92e3895a35/urdf_model/include/urdf_model/pose.h#L103
 2018-07-30 17:30:19 +02:00
Erwin Coumans e75178181d safe normalize on degenerate triangles 2018-07-30 12:21:02 +02:00
Erwin Coumans 5dd7a62397 Disable CProfileManager by default. 
Use btSetCustomEnterProfileZoneFunc(CProfileManager::Start_Profile) and
btSetCustomLeaveProfileZoneFunc(CProfileManager::Stop_Profile) to get old behavior.
 2018-07-30 12:07:32 +02:00
Erwin Coumans 2cab56d6ef prepare build system(s) for collisionFilterPlugin 2018-07-27 15:48:24 +02:00
erwincoumans 8b27a7311c Merge pull request #1801 from RanTig/TickPlugins 
Notify plugins on certain events (e.g. body added).
 2018-07-27 14:58:55 +02:00
erwincoumans fa41e2945c Merge pull request #1804 from erwincoumans/master 
fix memory leak reported in Issue #1800
 2018-07-27 14:50:45 +02:00
Erwin Coumans d7c68dd822 fix leak 2018-07-27 10:13:09 +02:00
Erwin Coumans a696bd6a46 fix memory leak reported in Issue #1800 
avoid access to array elements outside of range
 2018-07-25 19:59:29 +02:00
Tigran Gasparian 35a55b2056 Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR. 2018-07-25 14:47:34 +02:00
erwincoumans 0c66696e19 Merge pull request #1803 from mbeards/id_macro_collision 
Renamed error_message and warning_message macros.
 2018-07-24 22:54:03 +02:00
erwincoumans 27b3241ff1 Merge pull request #1802 from erwincoumans/master 
use the maximum square residual instead of sum
 2018-07-24 20:46:01 +02:00
Michael Beardsworth 3f03b41091 Renamed error_message and warning_message macros. 
error_message and warning_message are common strings that are likely to
collide. Renamed to bt_id_{error,warning}_message to more strongly
uniquify.

grep -r error_message -l src/BulletInverseDynamics | \
  xargs sed -i -e "s/error_message/bt_id_error_message/g"

grep -r warning_message -l src/BulletInverseDynamics | \
  xargs sed -i -e "s/warning_message/bt_id_warning_message/g"
 2018-07-24 11:32:08 -07:00
Tigran Gasparian f745eafb36 Changes dynamic_cast<> to c-style cast. 2018-07-24 16:04:16 +02:00
Erwin Coumans f0c8bbf1a1 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-07-24 15:21:12 +02:00
Erwin Coumans f91e5c573c use the maximum square residual instead of sum 2018-07-24 15:20:34 +02:00
Tigran Gasparian c59afb88c4 Notify plugins on certain events (e.g. body added). 
This also adds a periodic tick function to plugins, giving them periodically control over the simulation thread, even when the simulation is paused.
 2018-07-24 14:12:16 +02:00
erwincoumans 0e1dce41ea Merge pull request #1799 from erwincoumans/master 
in solver,  body1 -> bodyA and body2 -> bodyB
 2018-07-22 20:14:45 +02:00
Erwin Coumans bd7c3825bb Merge remote-tracking branch 'bp/master' 2018-07-22 13:04:44 +02:00
Erwin Coumans 7a27cb1739 body1 -> bodyA and body2 -> bodyB 2018-07-22 13:03:53 +02:00
erwincoumans defd961f60 Merge pull request #1798 from erwincoumans/master 
Change constraint solver threshold-based termination condition on res…
 2018-07-22 12:28:32 +02:00
Erwin Coumans b5495e789d Change constraint solver threshold-based termination condition on residual of velocity threshold, not on residual of impulse threshold. 
This avoids issues with systems with large mass ratios.

Test: add this to BasicDemo/BasicExample.cpp in initPhysics

	m_dynamicsWorld->getSolverInfo().m_numIterations = 1000;
	m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-4;
 2018-07-22 11:30:16 +02:00
erwincoumans c254768d1a Merge pull request #1793 from jslee02/fix_build_clang6 
Fix build errors with Clang 6 (also resolve #1510)
 2018-07-19 09:20:42 +02:00
Jeongseok Lee 8b26945f8f Fix build errors with Clang 6 (also addresses #1510) 2018-07-18 12:02:36 -07:00
Jeongseok Lee 8857638ded Revert C++ code changes to make the PR small 2018-07-18 11:57:34 -07:00
erwincoumans a8d81eb155 Merge pull request #1787 from jslee02/multibody_cleanup 
Minor code optimization in multibody forward dynamics
 2018-07-18 10:19:02 +02:00
Jeongseok Lee 6323309f89 Fix c++11-narrowing errors in multibody examples 2018-07-10 09:22:41 -07:00
Jeongseok Lee 6f27baf392 Revert "Fix c++11-narrowing errors in multibody examples" 
This reverts commit 64db9af036.
 2018-07-10 09:21:49 -07:00
Jeongseok Lee 64db9af036 Fix c++11-narrowing errors in multibody examples 2018-07-10 09:20:00 -07:00
Jeongseok Lee 3d1cd749b4 Add Travis CI settings for Xenial and Bionic 2018-07-09 21:57:57 -07:00
Jeongseok Lee deea2bb411 Use const reference for referencing existing members 2018-07-09 20:59:29 -07:00
Jeongseok Lee 6dbdf02808 Minor code optimization in multibody forward dynamics 2018-07-09 20:54:13 -07:00
Jeongseok Lee 15258fbdcc Merge remote-tracking branch 'upstream/master' into multibody_cleanup 2018-07-09 14:58:23 -07:00
erwincoumans 3d5c921495 Merge pull request #1782 from RanTig/userdata 
Changes UserData to use global identifiers and makes linkIndex optional.
 2018-07-09 11:36:51 +02:00
erwincoumans d6aae09290 Merge pull request #1780 from erwincoumans/master 
PyBullet: preliminary DART and MuJoCo backend code (mostly empty placeholders)
 2018-07-09 11:25:33 +02:00
Erwin Coumans f8cc33f3a3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-07-08 11:24:37 +02:00
Erwin Coumans 127b82ec1b expose texture unique id after loading URD file, so you can restore to the original texture after changing it to a custom texture. See also getTextureUid.py example. 2018-07-08 11:23:12 +02:00
Tigran Gasparian 49684144dc Some minor formatting fixes 2018-07-05 16:01:03 +02:00
Tigran Gasparian 8a6db042de Removes int initializer in SharedMemoryUserDataHashKey, changes '>>' into '> >' for nexted templates. 2018-07-04 14:25:48 +02:00
Tigran Gasparian 7c7e8af717 Increases the shared memory magic number. 2018-07-04 10:22:44 +02:00
Erwin Coumans 2ce1e65b53 PyBullet: tweak in TCP server for VR - ROS bridge 2018-07-03 16:30:54 -07:00
Erwin Coumans c0183d4834 Merge remote-tracking branch 'bp/master' 2018-07-03 16:28:45 -07:00
Tigran Gasparian 9c7aa3a863 Changes UserData to use global identifiers and makes linkIndex optional. 
This removes the need to specify the body id/link index when retrieving a user data entry.
Additionally, user data can now optionally be set to visual shapes as well.

The following public pybullet APIs have changed (backwards incompatible)
addUserData and getUserDataId
  Makes linkIndex parameter optional (default value is -1)
  Adds optional visualShapeIndex parameter (default value is -1)

getUserData and removeUserData
  Removes required parameters bodyUniqueId and linkIndex

getNumUserData
  Removes required bodyUniqueId parameter

getUserDataInfo
  Removes required linkIndex parameter
  Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
 2018-07-03 17:45:19 +02:00
erwincoumans 23f235e449 PyBullet: add example to enable another physics engine backend (DART, MuJoCo) 2018-07-01 14:49:34 -07:00
erwincoumans 98fc4b1510 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-07-01 14:42:48 -07:00
erwincoumans 0d8564db22 PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. 
PyBullet: add 2d biped example.,
 2018-07-01 14:42:32 -07:00
Erwin Coumans bfc85ff1fd PyBullet: TCP connection, optimized getVREvents to allow faster Windows -> Linux Vive tracking state communication. 2018-06-27 23:43:42 -07:00
erwincoumans 04556502f0 Merge pull request #1778 from erwincoumans/master 
fix hidden API
 2018-06-27 09:21:11 -07:00
Erwin Coumans ac59886960 fix hidden API 2018-06-27 07:39:56 -07:00
erwincoumans c531234f3a Merge pull request #1774 from erwincoumans/master 
PyBullet: allow to replace existing debug lines in addUserDebugLine t…
 2018-06-26 10:40:40 -07:00
Erwin Coumans 6549b0a586 re-enable optional tracking of memory allocations (disabled by default) 2018-06-26 09:19:10 -07:00
Erwin Coumans dffff4d3b6 Merge remote-tracking branch 'bp/master' 2018-06-26 08:58:38 -07:00
erwincoumans e023d94b32 Merge pull request #1775 from bingjeff/marios_fix_global_variables 
remove some debug globals from third_party/bullet
 2018-06-26 08:58:27 -07:00