Chuyuan Fu
1cb3655f71
add support to load rigidbody
2019-08-05 13:38:43 -07:00
Xuchen Han
02d3a9469f
code clean up + Zlib copyright header
2019-08-05 11:54:17 -07:00
Erwin Coumans
bf90b6a1d5
update PyBullet quickstart guide pdf version
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tweak profileTiming example
2019-08-05 08:32:45 -07:00
Xuchen Han
c5d84c1a0b
get rid of nullptr and std::function
2019-08-03 00:12:34 -07:00
Xuchen Han
021cbb2a0e
include numeric_limits
2019-08-02 23:50:15 -07:00
Xuchen Han
8c04a78c9b
switch from std::unordered_map to btHashMap
2019-08-02 23:26:11 -07:00
Xuchen Han
dae230912b
typo fix
2019-08-02 15:51:38 -07:00
Xuchen Han
9a5ef6c849
update CMakeList
2019-08-02 15:41:10 -07:00
Xuchen Han
7f33d8cdb9
get rid of 'using'
2019-08-02 15:27:10 -07:00
Xuchen Han
f624b60c19
get rid of auto
2019-08-02 15:19:37 -07:00
Xuchen Han
753b2d9f15
add new demos to CMakeList
2019-08-02 15:02:15 -07:00
Xuchen Han
8cc7cb59d7
clean up examples
2019-08-02 14:06:42 -07:00
Xuchen Han
54303e02b1
perform position correction only when objects are penetrating
2019-08-02 13:21:06 -07:00
Xuchen Han
3dc8abcf36
only call buildIslands once for multibody in each timestep
2019-08-02 13:15:06 -07:00
Xuchen Han
f1e7ce9ce1
add multibody interpolation transform so that collision detection is consistent with rigidbody
2019-08-02 13:15:06 -07:00
Xuchen Han
ec403f790d
factor out force; now btDeformableLagrangianceForce can be specified at configuration time and to specific softbody
2019-08-02 13:15:06 -07:00
Xuchen Han
233a381e7c
add correct impulse matrix to multibody-deformable contact
2019-08-02 13:15:00 -07:00
Xuchen Han
243b9fc8c7
combat friction drift in positionCorrect by changing velocity and change it back (effectively only changing position)
2019-08-02 13:14:15 -07:00
Xuchen Han
a90cad2a96
deformable code refactor
2019-08-02 13:13:21 -07:00
Xuchen Han
dc10336d45
code clean up + check in examples
2019-08-02 13:12:59 -07:00
Xuchen Han
3430192db7
reformulate friction
2019-08-02 13:12:51 -07:00
Xuchen Han
7846dd38dd
switch explicit elastic force
2019-08-02 13:12:51 -07:00
Xuchen Han
2fc376e8f5
bug fix in friction; accumulate friction impulses in cg; forbid switching from static to dynamic friction
2019-08-02 13:12:51 -07:00
Xuchen Han
befab4eab6
reorganize the contact constraints
2019-08-02 13:12:51 -07:00
Xuchen Han
bac7d461c5
fix bugs in poststablize and projection of colinear constraints
2019-08-02 13:12:51 -07:00
Xuchen Han
ac628f4d39
add two way coupled penetration resolution; not momentum conserving, but seem to work fine
2019-08-02 13:12:42 -07:00
Xuchen Han
98cd9a85e4
generalize preconditioner, now supports mass preconditioning
2019-08-02 13:12:41 -07:00
Xuchen Han
696c96f392
bug fix in projection; start friction
2019-08-02 13:12:41 -07:00
Xuchen Han
4e5f4b9fe9
reformulate how constraints are managed in the projection class
2019-08-02 13:12:41 -07:00
Xuchen Han
b28f1fdac3
add support for more than one constraint for a single deformable node
2019-08-02 13:12:41 -07:00
Xuchen Han
b7e512a5f9
sync gravity with substeps
2019-08-02 13:12:41 -07:00
Xuchen Han
77d670ae41
separate external force solve from constraint solve and eliminate damping in external force solve
2019-08-02 13:12:41 -07:00
Xuchen Han
c4e316f005
btDeformableRigidWorld now inherits from btMultiBodyDynamicsWorld instead of btSoftRigidDynamicsWorld
2019-08-02 13:12:41 -07:00
Xuchen Han
13d4e1cc2b
bug fixes in constraints projections; cpplized various functions
2019-08-02 13:12:41 -07:00
Xuchen Han
786b0436ec
fixed gravity issue in rigid body and deformable body contact solve
2019-08-02 13:12:27 -07:00
Xuchen Han
b8997c36b2
update contact projection
2019-08-02 13:10:56 -07:00
Xuchen Han
35ce2ae0e2
add contact constraint as projections in CG
2019-08-02 13:10:56 -07:00
Xuchen Han
32836b0694
set up deformable world and solver (does not support contact or friction yet)
2019-08-02 13:10:17 -07:00
erwincoumans
3ac4959e95
Update DeepMimic_Optimizer.py
2019-08-02 07:08:51 -07:00
erwincoumans
4a4c807381
Update DeepMimic_Optimizer.py
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remove timing
2019-08-01 21:24:28 -07:00
erwincoumans
5cd1695acb
Merge pull request #2350 from erwincoumans/master
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improved for inserting profile timings from Python, to analyzer performance
2019-08-01 21:22:27 -07:00
Erwin Coumans
6d844e5df1
pybullet: more detailed nested timings
2019-08-01 19:15:02 -07:00
Erwin Coumans
7263439c4b
improved for inserting profile timings from Python, to analyzer performance of pybullet programs.
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See examples/pybullet/examples/profileTiming.py for an example. Note that python and c++ is properly interleaved.
Open a timings with a name, close the timing without a name. Note that timings can be recursive, added/popped as a stack.
2019-08-01 19:12:16 -07:00
erwincoumans
14cc0ec2ee
Merge pull request #2346 from erwincoumans/master
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add texture support for cube, when using createCollisionShape(GEOM_BOX)
2019-07-31 18:49:37 -07:00
Erwin Coumans
397767cb60
Merge remote-tracking branch 'bp/master'
2019-07-31 17:54:29 -07:00
Erwin Coumans
10153b3b3a
add texture support for cube, when using createCollisionShape(GEOM_BOX)
2019-07-31 14:49:49 -07:00
erwincoumans
789769eac9
Update BulletMJCFImporter.cpp
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add default for unhandled geoms
2019-07-31 09:18:38 -07:00
erwincoumans
a8e1be3b33
Update TinyRenderer.cpp
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create a cube using x,y,z not x,y,y
2019-07-30 17:48:59 -07:00
erwincoumans
1feb186204
Update PhysicsClientC_API.cpp
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use B3_PI definition
2019-07-30 17:43:24 -07:00
erwincoumans
d0880a78d5
Merge pull request #2343 from erwincoumans/master
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expose heightfield to pybullet, add pybullet_envs.deep_mimic pretrained humanoid3d policies
2019-07-30 09:07:02 -07:00
