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230 Commits

Author SHA1 Message Date
Erwin Coumans
c2b59776ed CMakeLists glew to glad 2018-02-20 21:09:31 -08:00
Erwin Coumans
dacafda88a use glad instead of glew in mac build and pybullet setup.py 2018-02-20 20:09:12 -08:00
Erwin Coumans
b0984de046 preparation to replace glew by glad 2018-02-20 19:44:02 -08:00
yunfeibai
5494aa72fa Set the perspective projection for projective texture mapping. Change the demo to two bears with the same view projection matrix for the camera and the projector. 2018-02-20 18:32:09 -08:00
Erwin Coumans
8bb40b632b allow to build GLFW version of Bullet examples on Linux (use premake4_linux --enable_glfw gmake) 2018-02-20 16:21:22 -08:00
erwincoumans
01f58f8f02 PyBullet: soft bodies are rendered, so we don't need to also render wireframes in regular mode. 
Use glBufferSubData instead of glMapBuffer/glUnmapBuffer, much faster soft body vertex sync.
Don't use a separate btSoftBodyWorldInfo, use the existing one in btSoftMultiBodyDynamicsWorld.
 2018-02-18 11:09:42 -08:00
yunfeibai
fb6907aa1b Merge remote-tracking branch 'upstream/master' 2018-02-15 18:19:29 -08:00
yunfeibai
36dcabbaf5 Merge remote-tracking branch 'upstream/master' 2018-02-15 14:31:34 -08:00
yunfeibai
cf4a0a3503 Add improvement/fix in SortableTransparentInstance back. 2018-02-15 13:19:41 -08:00
yunfeibai
7dbc5626fb Add the shader files. 2018-02-12 18:19:05 -08:00
yunfeibai
2947cd54ce Add shader for projective texture. 2018-02-11 21:29:02 -08:00
yunfeibai
08548e1ef0 Add example for projective texture. 2018-02-11 13:50:45 -08:00
Erwin Coumans
508550c5e9 fix premake build for linux, thanks to @consultit 
See also issue #1538
 2018-02-09 18:46:26 -08:00
Erwin Coumans
dcdec2236f PyBullet/rendering: improve sorting of transparent objects 2018-02-05 23:48:39 -08:00
erwincoumans
13d67e8fc3 add bicycle resources and testBike.py script (use python -m pybullet_envs.examples.testBike after pip install pybullet) 
center shadow around camera target
 2018-01-31 22:17:15 -08:00
Erwin Coumans
e97b751781 further work on urdfEditor.py, fix some serialization issues 2018-01-08 12:25:56 -08:00
erwincoumans
29aa9cb789 Bullet bump up to version 2.88 
add preliminary support to import btMultiBody from a .bullet file (will help save/restore state)
fix some Windows char/widechar issues
 2017-11-22 18:12:02 -08:00
d3x0r
8e75d4375b Fix missing DWORD variable (lost in merge port) 2017-10-28 14:50:44 -07:00
d3x0r
88b49947b5 Composite of fixed code for mingw64(on windows) and general fixes for msvc. 
1) (win32window) don't convert char to wide, use char direct to window.
2) (CMakeLists) Don't link one library as static CPPLIB and no others (mismatched allocations)
3) (macros) Fix Gwen macros for mingw64 on windows build.  (changes are by compiler(msc_ver) not platform)
4) (FileUtils) sprintf_s reference by platform, not compiler (mingw64 support)
5) (b3OpenCLUtils) fix bad define name _MSVC_VER->_MSC_VER
6) (compoundCollision) remove unused variables, simplify operation.
7) (impulseconstraint) remove duplicated code block
 2017-10-28 14:42:38 -07:00
erwincoumans
ed8de36ffa pybullet: allow to replace existing text, to avoid flickering (remove/add) 
allow texture caching (disable using the disable file caching)
 2017-10-25 08:15:01 -07:00
Erwin Coumans
26d32f2aa8 improve loading performance of large textures: 
option to disable tinyrenderer, use p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
also make sure to use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loadURDF, and enable rendering afterwards using p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
reorder 2 loops, making the flip texels twice as fast (cache coherency),
single memcpy of entire texture in tinyrenderer, instead of per-pixel copy (memory layout is the same)
add lots of B3_PROFILE timings, to see where time is going
 2017-10-06 13:46:24 -07:00
erwincoumans
e0dbd25cb7 remove some unneeded/debug BT_PROFILE markers 2017-09-29 07:50:48 -07:00
erwincoumans
6d68a67c79 fix a bug in a changeVisualShape/texture selection, out-of-bounds check was using the wrong array. 
May fix some internal texture mug bug.
 2017-09-25 11:11:48 -07:00
Erwin Coumans
ae8f12e8ba more fixes for retina + glfw + opengl2 fallback 2017-09-20 13:09:18 -07:00
Erwin Coumans
fb05763093 support retina / scale factor between pixel size and screen coordinate size 2017-09-20 10:07:18 -07:00
Erwin Coumans
3e0b72b632 allow to configure glfw on Mac OSX, disabled by default 2017-09-20 08:12:59 -07:00
erwincoumans
b079277d51 minor fixes in GLFWOpenGLWindow 2017-09-19 21:40:17 -07:00
erwincoumans
cadce37141 add GLFWOpenGLWindow and glad (replacement for glew) 2017-09-19 21:16:24 -07:00
erwincoumans
390f111547 enable option to use GLFW, instead of our own cross-platform X11/Cocoa/Windows OpenGLWindow classes 2017-09-19 21:10:54 -07:00
erwincoumans
cc9995d44b fix uninitialized camera position in 'VR' / 'camera rendering' mode (causing broken specular reflections in VR) 
use debug visualizer camera viewmatrix/projection matrix if not provided, in ER_BULLET_HARDWARE_OPENGL mode.
fix broken changeRGBAColor implementation, thanks to Laura for the report!
 2017-09-12 22:14:00 -07:00
Erwin Coumans
ee082396d1 fixes in libdl/DL cmake 
minor tweaks in pybullet OpenAI gym locomotion envs (connect to shared memory before going GUI/DIRECT)
bump up pybullet version to 1.3.6
 2017-09-10 16:22:45 -07:00
Erwin Coumans
c895bd244f track down DL/dl issue 2017-09-09 13:05:45 -07:00
Jonathan Tompson
29acd99d25 changed exit(0) to exit(EXIT_FAILURE) for OpenGLWindow functions, and changed printf to fprintf(stderr for error string printing. 2017-08-24 15:18:43 -07:00
Erwin Coumans
c06ea72a4c improve the new pybullet gym environments, follow camera, disable 2D GUI, disable rendering during loading (makes it faster) 
disable vsync on Mac
fix setup.py file
 2017-08-20 18:11:53 -07:00
Erwin Coumans
9cf747b35b a few compile/warning fixes 2017-07-01 10:01:55 -07:00
Erwin Coumans
c17625a4d0 texture check fix 2017-07-01 09:15:00 -07:00
Erwin Coumans
88897cc744 implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added) 
See also examples\pybullet\examples\changeTexture.py
 2017-06-30 19:11:43 -07:00
Erwin Coumans
dd3d55610b fixes in pybullet.loadTexture, changeVisualShape replacing texture. 
(also works for OpenGL3 renderer now)
 2017-06-30 13:35:07 -07:00
erwincoumans
d5fe67cf57 Add pybullet transparent.py example, transparency with global per-object sort in GLInstancingRenderer 2017-06-24 19:38:31 -07:00
erwincoumans
a651cb9ab4 Implement first pass of transparent graphics object for GLInstancingRenderer 
remove 'enableBlend' from API, graphics instances use alpha component instead
fix forward axis for SimpleCamera
 2017-06-24 13:41:33 -07:00
Erwin Coumans
9e5e0da9f4 move stb_image/stb_truetype.h and stb_image/stb_image_write.h to ThirdPartyLibs/stb_image folder 2017-06-22 08:48:18 -07:00
Erwin Coumans
b23cb1dd2c pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface 
(still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
 2017-06-03 10:57:56 -07:00
yunfeibai
bfcbb339cf Merge remote-tracking branch 'upstream/master' 2017-06-02 18:26:04 -07:00
Erwin Coumans
030d723db6 fix some warnings 2017-06-01 16:48:07 -07:00
yunfeibai
e6d1a8cf97 Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll. 2017-06-01 15:30:37 -07:00
Erwin Coumans
5c6045b61f turn down effect of default specular a bit 2017-06-01 13:15:58 -07:00
Erwin Coumans
87293e835c implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support. 
pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor
Bug fixes in b3ResourcePath::findResourcePath resolution.
add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium
minor fixes to obj2sdf
 2017-06-01 12:32:44 -07:00
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
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
Erwin Coumans
e023c012b4 TinyRendererVisualShapeConverter set near/far for its own camera. 2017-05-25 13:39:36 -07:00