Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity
6,768 Commits 10 Branches 0 Tags
63f4a63e15dcb5868e9eb4f28774bdbcd147237e
Commit Graph

2141 Commits

Author SHA1 Message Date
erwincoumans
63f4a63e15 since parent collision is always disabled by default for self-collision, we add a new flag 
URDF_USE_SELF_COLLISION_INCLUDE_PARENT, to force self-collision between direct parent/child (not recommended in general)
 2018-09-08 14:46:43 -07:00
Erwin Coumans
7376c26e4b remove gl libs from openvr 2018-09-07 16:06:42 -07:00
erwincoumans
5164f2f9a7 remove pre-build proto/grpc files (they differ for each platform and proto/grpc version) 2018-09-07 15:44:33 -07:00
erwincoumans
0efc67841d allow pybullet to connect to GRPC server. (need to use flag --enable_grpc in premake build system) 
add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes.
example script to start server from pybullet:
import pybullet as p
p.connect(p.GUI)
#if statically linked plugin
id = p.loadPlugin("grpcPlugin")
#dynamics loading the plugin
#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")

#start the GRPC server at hostname, port
if (id>=0):
	p.executePluginCommand(id, "localhost:1234")

Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs:
numRPC = 10
while (1):
	p.executePluginCommand(id, intArgs=[numRPC])
 2018-09-05 17:58:14 -07:00
Erwin Coumans
31b06f508a only add notifications if there is a plugin that needs them 
call the 'reportNotifications' in GRPC server main
 2018-09-04 19:24:31 -07:00
Erwin Coumans
18b782847d make GRPC work on Linux, 2018-09-04 16:56:34 -07:00
Erwin Coumans
51f9a6fd0d make grpc work on Mac OSX with premake 2018-09-04 14:49:12 -07:00
erwincoumans
710e660763 Merge pull request #1855 from erwincoumans/master 
more work on grpc/proto/pybullet.proto
 2018-09-04 12:11:03 -07:00
erwincoumans
c4842220a8 Merge pull request #1852 from RanTig/remove-visual-shape 
Removes visual shape data when a body gets removed.
 2018-09-04 09:42:48 -07:00
erwincoumans
9b66074949 add some missing GRPC files 2018-09-04 09:10:57 -07:00
erwincoumans
9e2f6c7935 more GRPC work 2018-09-03 23:13:15 -07:00
Tigran Gasparian
a670041793 Small fix in executePluginCommand, now you can pass int arguments while keeping floats null without errors. 2018-09-03 10:41:38 +02:00
Tigran Gasparian
93145f3979 Adding space to make compiler happy. 2018-09-03 10:37:22 +02:00
erwincoumans
23e84ca9b6 more work on proto/pybullet.proto 2018-09-01 13:49:56 -07:00
Tigran Gasparian
9799f356de . 2018-08-31 15:35:35 +02:00
Tigran Gasparian
f132b4d16b Only make the change for Linux, since OSX doesn't have dlmopen() 2018-08-31 15:33:08 +02:00
Tigran Gasparian
c062bfc2d5 Removes visual shape data when a body gets removed. 
Problem description:
When you add a body, remove it and then add a new
body, the body id may be reused by Bullet.
Because the visual shape data was not being removed when a body was
removed, requesting the visual shape data for a 'recycled' body id
results in both the visual shape data of the new body as well as the old
one.
Removing the visual shape data when the body gets removed fixes this.

Changes the btAlignedObjectArray for visual shapes to a hashmap, so
that removing is faster. Additionally, functions like getNumVisualShape
don't perform a linear search anymore.
 2018-08-31 15:12:28 +02:00
Tigran Gasparian
6036c027bf Uses dlmopen() instead of dlopen() in b3PluginManager.cpp. This allows plugins to be loaded in a separate namespace, avoiding symbol conflicts. 2018-08-31 10:53:46 +02:00
Erwin Coumans
40a15053bd add createProtobufs.sh script for Mac/Linux (only tested on Mac so far) 2018-08-30 10:09:00 -07:00
erwincoumans
4f7dfc2069 Add preliminary GRPC server for PyBullet and BulletRobotics. 
Will add GRPC client and PyBullet GRPC server plugin.
Will cover most/all SharedMemoryCommand/SharedMemoryStatus messages.
Run the server, then test using the pybullet_client.py
 2018-08-29 21:12:13 -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
Erwin Coumans
3036a6d2bc also drop 'model://' from URDF file names (like we drop package://) 2018-08-26 09:33:51 -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
Erwin Coumans
61b7591b8e expose choice of contraint solver in PyBullet, with switchConstraintSolver example 2018-08-23 23:04:17 -07:00
mbennice
780b280181 Allow current positions for Calculate IK. 
Allows the user to specify the current positions of joints when
calculating Inverse Kinematics.
 2018-08-23 13:19:15 -07:00
Erwin Coumans
6d53f1a6d9 fix parameter mismatch in SerialChains.cpp 2018-08-09 17:15:54 -07:00
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
Erwin Coumans
07b21ca4a2 add missing SerialChains.cpp file to premake4.lua 2018-08-09 16:30:20 -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
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
961d8adad1 Merge pull request #1806 from erwincoumans/master 
prepare build system(s) for collisionFilterPlugin
 2018-08-03 17:43:13 -07:00
Jeongseok Lee
89c6a83ae9 Add MLCP constraint solver for multibody 2018-08-02 22:53:30 -07:00
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
e75178181d safe normalize on degenerate triangles 2018-07-30 12:21:02 +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
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
Tigran Gasparian
f745eafb36 Changes dynamic_cast<> to c-style cast. 2018-07-24 16:04:16 +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
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