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Author SHA1 Message Date
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 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
erwincoumans 1bc3cec547 Merge pull request #1844 from erwincoumans/master 
remove leading space
 2018-08-25 11:55:37 -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
erwincoumans d44571a4b3 Merge pull request #1832 from erwincoumans/master 
fix parameter mismatch in SerialChains.cpp
 2018-08-10 02:03:12 +00:00
erwincoumans 2c425f72fe Merge pull request #1831 from erwincoumans/master 
bump up pybullet version, revert linear slop
 2018-08-09 23:56:29 +00:00
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
erwincoumans 6fe1b000e5 Merge pull request #1820 from erwincoumans/master 
fix previous revert of btMultiBody.cpp
 2018-08-03 18:05:59 -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
erwincoumans 7d38cab1aa Merge pull request #1811 from RanTig/SimulationSteppedNotification 
Adds a simulation stepped notification
 2018-08-02 20:34:22 +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 a696bd6a46 fix memory leak reported in Issue #1800 
avoid access to array elements outside of range
 2018-07-25 19:59:29 +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
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
erwincoumans 0e1dce41ea Merge pull request #1799 from erwincoumans/master 
in solver,  body1 -> bodyA and body2 -> bodyB
 2018-07-22 20:14:45 +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
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
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 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
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
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
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
erwincoumans 1b69e22df6 Merge pull request #1776 from YunfeiBai/master 
Remove the pdController when maxForce = 0
 2018-06-26 08:54:40 -07:00
erwincoumans 49b0ec08e1 PyBullet: allow to replace existing debug lines in addUserDebugLine through the replaceItemUniqueId argument 
See batchRayCast.py for example usage
 2018-06-22 16:47:20 -07:00
erwincoumans 6b2cae1b1d Merge pull request #1769 from RanTig/parallel_raycast_fix 
Several fixes for the parallel raycasts
 2018-06-22 15:49:56 -07:00
erwincoumans 09751a0b6b Merge pull request #1770 from erwincoumans/master 
PyBullet urdfEditor use in example,  PyBullet.setPhysicsEngineParameter: only update solverResidualThreshold if needed
 2018-06-22 11:06:37 -07:00
erwincoumans 784f0fdc04 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-06-22 09:28:14 -07:00
erwincoumans 55e185fe39 PyBullet loadURDF in useMaximalCoordinated=True (btRigidBody), support lower/upper limits for revolute joints. 2018-06-22 09:28:07 -07:00
erwincoumans 8c851a70c7 Merge pull request #1766 from erwincoumans/master 
lazy creation of batch scheduler, it causes issues with the physics.
 2018-06-16 14:02:11 -07:00
erwincoumans 42c9d9aa3c lazy creation of batch scheduler, it causes issues with the physics. 2018-06-16 13:59:03 -07:00
erwincoumans 046d95b7e6 Merge pull request #1765 from erwincoumans/master 
PyBullet: deal with backward compatibility of b3RaycastBatchAddRay
 2018-06-16 13:09:17 -07:00
erwincoumans c55720fb41 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-06-16 12:28:38 -07:00
erwincoumans 7924d51665 PyBullet: deal with backward compatibility of b3RaycastBatchAddRay: 
use b3RaycastBatchAddRays API to enable MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING num rays.
Old API (b3RaycastBatchAddRay) sticks to 256 rays, MAX_RAY_INTERSECTION_BATCH_SIZE.
 2018-06-16 12:28:21 -07:00
erwincoumans ec37495142 Merge pull request #1761 from erwincoumans/master 
bump up pybullet version
 2018-06-16 10:47:28 -07:00
Erwin Coumans b94df12081 add missing pthread link in App_HelloBulletRobotics 2018-06-16 10:20:43 -07:00
erwincoumans 04d03d10be Fix memory leak due to batchRayCast never deleting the btTaskScheduler. 
(and issue with TaskScheduler/btTaskScheduler.cpp, add JobQueue::exit, call it first, since it uses the m_threadSupport which was deleted before the destrucor was called.
Use a hashmap to store user timers, to avoid allocating many identical strings.
 2018-06-16 09:37:53 -07:00
erwincoumans cb1fce7899 revert exposing getSharedMemoryStreamBuffer / adding to command structure 
use 16k rays by default
add uploadRaysToSharedMemory method
 2018-06-16 08:14:00 -07:00
erwincoumans 23f9250e04 Merge remote-tracking branch 'bp/master' 2018-06-16 06:58:10 -07:00
erwincoumans d660042d76 Merge pull request #1763 from YunfeiBai/master 
Add the pdControlPlugin to the joint control C API, and add the PD co…
 2018-06-16 06:57:50 -07:00
erwincoumans 75ec8f3fd9 PyBullet: add batchRayCast.py example 2018-06-16 06:20:15 -07:00
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
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
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
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
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
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
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
erwincoumans c60cc4897c Merge pull request #1735 from erwincoumans/master 
fix another parameter name in header, in enableJointForceTorqueSensor
 2018-06-05 19:59:38 -07:00
erwincoumans cb6d76d6b5 fix another parameter name in header, in enableJointForceTorqueSensor 2018-06-05 19:59:00 -07:00
erwincoumans bcf466ee4e Merge pull request #1734 from erwincoumans/master 
fix parameter name in header, computeForwardKinematics
 2018-06-05 19:57:52 -07:00
erwincoumans dff04c7f59 fix parameter name in header, computeForwardKinematics 2018-06-05 19:57:21 -07:00
erwincoumans 88008b400a Merge pull request #1733 from erwincoumans/master 
use new API b3CreateInProcessPhysicsServerFromExistingExampleBrowserA…
 2018-06-05 19:54:37 -07:00
erwincoumans 72d3f45b05 use new API b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3 (not 2) 2018-06-05 19:54:08 -07:00