Bart/bullet3
1
0 Fork 0
Code Issues Pull Requests Releases Wiki Activity
6,451 Commits 10 Branches 0 Tags
94da26290677e7693b762e1d68d8ee62a0819608
Commit Graph
100 Commits
This Branch
This Branch
All Branches
Author SHA1 Message Date
Erwin Coumans 94da262906 case sensitive header include 2018-05-23 13:51:51 +10:00
Erwin Coumans 77c332bd88 PyBullet: add option to cache graphics shapes for URDF files, handy for benchmarks with many duplicate robots 
See https://github.com/erwincoumans/pybullet_robots ANYmal.py for an example.
PyBullet: Expose p.setPhysicsEngineParameter(solverResidualThreshold=1e-2) (b3PhysicsParamSetSolverResidualThreshold), increases solver performance a lot
PyBullet: Expose p.setPhysicsEngineParameter(contactSlop) Set it to zero, to avoid issues with restitution.
PyBullet: Expose isNumpyEnabled, return True is PyBullet was compiled with NUMPY support for 'getCameraImage'.
PyBullet: Expose p.ChangeDynamics(objectUid, linkIndex, contactProcessingThreshold), to avoid issues of speculative/predictive contacts with restitution.
See also http://twvideo01.ubm-us.net/o1/vault/gdc2012/slides/Programming%20Track/Vincent_ROBERT_Track_ADifferentApproach.pdf
 2018-05-23 13:26:00 +10:00
Erwin Coumans f5952a73e7 UrdfImporter: Collada DAE, rudimentary support for polylist (for ANYmal), assumes all polygons have 3 vertices 
remove obsolete env from __init__.py
 2018-05-23 00:28:49 +10:00
Erwin Coumans 9a706d9cfd PyBullet: fix Gym envs 2018-05-23 00:24:03 +10:00
Erwin Coumans 76561cbebd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-23 00:18:35 +10:00
Erwin Coumans a0a1c9347c PyBullet: fix in Gym env 2018-05-23 00:18:17 +10:00
Erwin Coumans 62d58259bc Fix Issue #1623, SphereTriangleDetector for cases with positive contactBreakingThreshold and where sphere was intersecting with multiple edges 
(need to take the closest edge)

Thanks to Andrea Catania for the report and reproduction case!
 2018-05-22 08:36:00 +10:00
Erwin Coumans 2ac8c7009d bump up pybullet version to 1.9.9 2018-05-20 15:03:58 +10:00
Erwin Coumans a7a6e20d9c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-20 14:19:49 +10:00
Erwin Coumans 90939279f9 PyBullet: cmake build, enable DBUILD_PYBULLET_NUMPY=ON 
fix issue with HalfCheetahBulletEnv-v0 in previous commit
 2018-05-20 14:18:53 +10:00
Erwin Coumans 964f52f62d remove unsupported simpleHumanoid.py, use env = gym.make("HumanoidBulletEnv-v0") instead. 2018-05-20 12:35:33 +10:00
Erwin Coumans 0b2c9ea645 PyBullet: avoid a crash in SHARED_MEMORY_SERVER 2018-05-20 12:20:06 +10:00
Erwin Coumans ea10c59a3d bump up PyBullet version to 1.9.8 2018-05-18 16:26:45 -07:00
Erwin Coumans bcd209fd93 Merge remote-tracking branch 'bp/master' 2018-05-18 16:25:40 -07:00
Erwin Coumans 701b50ec12 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-18 16:25:27 -07:00
Erwin Coumans 0abe4151e5 Fix for 1643, allow to instantiate multiple PyBullet Gym environments (Ant, Humanoid, Hopper, Pendula etc) in the same process (same or other thread). It uses the pybullet_utils.bullet_client to achieve this. 2018-05-18 16:23:54 -07:00
erwincoumans f90bd1f713 Merge pull request #1688 from erwincoumans/master 
workaround for an out-of-date tinyxml2 version
 2018-05-17 13:49:49 -07:00
Erwin Coumans ff646fbef2 workaround for an out-of-date tinyxml2 version 2018-05-17 12:18:17 -07:00
erwincoumans 83a34d8ae2 Merge pull request #1663 from vsaulue/fix-doxygen 
Fix some Doxygen comments in btMatrix3x3.
 2018-05-16 17:02:23 -07:00
erwincoumans 8f4d1e722e Merge pull request #1686 from yuchenericwu2/master 
Expose CFM parameters
 2018-05-16 16:18:45 -07:00
erwincoumans 4c4cf11667 Merge pull request #1687 from erwincoumans/master 
fix VR controllers only visible in one eye
 2018-05-16 14:53:06 -07:00
erwincoumans 034dfba3ae fix VR controllers only visible in one eye (remove stray glClear for testing planar reflection) 
PyBullet: force both contactStiffness and contactDamping (report error otherwise)
 2018-05-16 14:24:12 -07:00
erwincoumans b432daed65 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-16 12:11:29 -07:00
erwincoumans 0ca2c5f925 use Bullet3Common/b3AlignedObjectArray.h instead of LinearMath version in SharedMemory/PhysicsClientSharedMemory 2018-05-16 12:10:34 -07:00
erwincoumans f99260413d Merge pull request #1684 from erwincoumans/master 
BulletInverseDynamics: Fix propagation of user_int and user_ptr when …
 2018-05-16 09:08:30 -07:00
erwincoumans 382a08e373 Merge pull request #1682 from lunkhound/pr-solver-col-body-fix 
constraint solvers: fix crash for collision-bodies with incorrect flags
 2018-05-16 08:41:57 -07:00
Erwin Coumans 28b86ba0a4 fix some tsan issues (thread sanitizer) 2018-05-16 08:32:21 -07:00
Erwin Coumans 75bff86dba Merge remote-tracking branch 'bp/master' 2018-05-16 08:31:20 -07:00
Erwin Coumans d17d496f97 fix potential asan/tsan issue 2018-05-15 13:24:28 -07:00
Erwin Coumans 703767c6f3 BulletInverseDynamics: Fix propagation of user_int and user_ptr when creating MultiBodyTree. 
The user_ptr and user_int arguments passed to addBody were stored in the cache, but not propagated to the MultiBodyTree when finalizing it.

Thanks to Thomas Buschmann for the fix.
 2018-05-14 07:34:49 -07:00
Lunkhound 4254837170 solvers: remove erroneous 'break' statement that can occur with incorrectly flagged objects; also added asserts to warn when incorrectly flagged objects are detected 2018-05-12 19:54:39 -07:00
erwincoumans 5ed461f512 Merge pull request #1683 from erwincoumans/master 
fix PyBullet.applyExternalTorque for links, expose jointFeedbackMode, improve  PyBullet combineUrdf.py performance
 2018-05-11 20:40:46 -07:00
erwincoumans e5a9b42f9a expose PyBullet.setPhysicsEngineParameter(jointFeedbackMode) 
use p.JOINT_FEEDBACK_IN_JOINT_FRAME if you want the joint feedback expressed in joint frame (instead of link inertial frame)
use p.JOINT_FEEDBACK_IN_WORLD_SPACE if you want the joint feedback in world space coordinates, instead of local link/joint coordinates.
Example: p.setPhysicsEngineParameter(jointFeedbackMode=p.JOINT_FEEDBACK_IN_WORLD_SPACE+p.JOINT_FEEDBACK_IN_JOINT_FRAME)
 2018-05-11 19:52:06 -07:00
erwincoumans 1ec24a0853 fix PyBullet.applyExternalTorque for links (instead of base) 2018-05-11 19:35:27 -07:00
Lunkhound 8d5cd1c324 constraint solvers: fix crash for collision-bodies with incorrect flags 2018-05-11 17:47:08 -07:00
Erwin Coumans e86d11f7b9 PyBullet combineUrdf, make createMultiBody much faster, by temporarily disabling rendering 2018-05-10 20:52:51 -07:00
erwincoumans 282154f377 Merge pull request #1680 from erwincoumans/master 
PyBullet TinyRenderer, fix cylinder, colors for programmatic created models (PyBullet.createMultiBody), UrdfEditor: fix indentation
 2018-05-10 19:08:37 -07:00
erwincoumans 06a23ecd6d PyBullet TinyRenderer, fix cylinder (don't add caps like a capsule), also convert colors stored in visual shapes, if needed. 2018-05-10 18:37:48 -07:00
erwincoumans e488603603 UrdfEditor: fix indentation, causing an issue when a link had no collision shape but visual shapes 2018-05-10 18:05:50 -07:00
erwincoumans 50cca1013b Merge pull request #1679 from erwincoumans/master 
fix MSVC 2010 compile issue, fix urdfEditor: scale  issues
 2018-05-10 16:27:21 -07:00
erwincoumans 80bab22b9c urdfEditor: add euler -> quaternion conversions (otherwise orientations get silently ignored) 
urdfEditor: move combine code into UrdfEditor.joinUrdf
urdfEditor: Fix geom_length
 2018-05-10 15:08:00 -07:00
erwincoumans 3116cd82da fix MSVC 2010 compile issue 
urdfEditor: fix scale incorrectly saved in urdfEditor.saveUrdf
urdfEditor: fix linkMeshScaleArray in wrong location
 2018-05-10 12:04:13 -07:00
erwincoumans 928acbfe62 Merge pull request #1678 from erwincoumans/master 
PyBullet urdfEditor improvements
 2018-05-09 11:12:21 -07:00
Erwin Coumans a0e72b2ae3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py
 2018-05-09 10:29:20 -07:00
Erwin Coumans 414b3ef9bb PyBullet urdfEditor improvements: saveUrdf mesh scale, fix incorrect index, add getCameraImage in examples/combineUrdf.py 2018-05-09 10:28:12 -07:00
Erwin Coumans be7c6ac967 PyBullet add getCameraImage to debug urdfEditor/createMultiBody 2018-05-08 23:23:53 -07:00
Erwin Coumans 1e51e2b859 tweaks in urdfEditor.py and combineUrdf.py, put KUKA on top of Husky as test. 2018-05-08 23:14:39 -07:00
Erwin Coumans 2d1689cba5 add example to joint two URDF files, using the urdfEditor (combineUrdf.py) 2018-05-08 17:18:58 -07:00
Erwin Coumans d436be1d79 add __init__.py for pybullet_utils examples 2018-05-08 13:31:30 -07:00
Erwin Coumans ad43de285c add bullet_client.py to pybullet_utils, with simple example 2018-05-08 10:12:19 -07:00
erwincoumans 57b67faddb Merge pull request #1676 from erwincoumans/master 
remove "DO NOT SUBMIT" comments, it blocks commits in google3
 2018-05-07 17:49:29 -07:00
Erwin Coumans 3a4d1799d8 remove "DO NOT SUBMIT" comments, it blocks commits in google3 2018-05-07 17:35:55 -07:00
erwincoumans 84edb746e7 Merge pull request #1674 from lunkhound/pr-fix-bad-assert 
parallel solver: remove bad assert
 2018-05-07 17:31:47 -07:00
erwincoumans c76f888366 Merge pull request #1675 from erwincoumans/master 
expose PyBullet.SHARED_MEMORY_SERVER
 2018-05-07 17:31:13 -07:00
Erwin Coumans 0b5785421b PyBullet: re-add API to header 2018-05-07 16:59:06 -07:00
Erwin Coumans 7bc85c7d43 PyBullet.SHARED_MEMORY_SERVER, use secondary key for server 2018-05-07 16:01:38 -07:00
Erwin Coumans 7383843b24 expose PyBullet.SHARED_MEMORY_SERVER 
connect from 1 different PyBullet client using PyBullet.SHARED_MEMORY)
(don't use more than 1 other client to submit commands in parallel)
 2018-05-07 15:57:36 -07:00
Lunkhound ded33f3e7e parallel solver: remove bad assert 2018-05-06 23:39:01 -07:00
erwincoumans ab4b663800 Merge pull request #1671 from erwincoumans/master 
don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA …
 2018-05-03 14:52:09 -07:00
Erwin Coumans 84b20bda80 don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA is set, not for the diagonal and also not for the inertial frame shift. 2018-05-03 14:24:16 -07:00
erwincoumans 8fc7316c1d Merge pull request #1670 from YunfeiBai/master 
Fixed a bug in projective texture shader.
 2018-05-03 11:25:08 -07:00
YunfeiBai e5036fbc3a Merge remote-tracking branch 'upstream/master' 2018-05-03 10:48:55 -07:00
YunfeiBai aa6b8f66e9 Fixed a bug in projective texture shader. 2018-05-03 10:46:59 -07:00
erwincoumans d70a9ae3a3 Merge pull request #1669 from erwincoumans/master 
fix some incompatibilities between google3/third_party/GL,EGL, glad
 2018-05-03 10:02:30 -07:00
Erwin Coumans 810c9d423c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-03 09:07:14 -07:00
Erwin Coumans 0c706eb08a fix some incompatibilities between google3/third_party/GL,EGL, glad 2018-05-03 09:06:30 -07:00
erwincoumans bdd7d3c2c0 Merge pull request #1662 from sponji/master 
Fixed a collision check bug with CCD
 2018-05-03 06:40:22 -07:00
erwincoumans 475d56e1ac Merge pull request #1668 from erwincoumans/master 
Revert back to using the Jacobi method to diagonalize a symmetric mat…
 2018-05-03 06:39:48 -07:00
erwincoumans 0e2d0fda1a Revert back to using the Jacobi method to diagonalize a symmetric matrix. 2018-05-03 06:03:52 -07:00
erwincoumans 6b9cc34064 Merge pull request #1666 from erwincoumans/master 
posix shared memory lsMemory release function
 2018-05-02 17:05:35 -07:00
Erwin Coumans 4a8ad1a54e fix posix memory release issues 
fix compile problems on Mac OSX
reduce shared memory size on Mac (>512*1024 fails to allocate)
 2018-05-02 15:39:16 -07:00
erwincoumans 1f6afcda30 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-02 14:32:59 -07:00
erwincoumans 3a5f778b70 expose lsMemory destroy function to release thread memory 2018-05-02 14:32:43 -07:00
erwincoumans 35be31e11e Merge pull request #1665 from erwincoumans/master 
bump up PyBullet version to 1.9.6
 2018-05-02 13:59:44 -07:00
Erwin Coumans 0faff1e183 bump up PyBullet version to 1.9.6 2018-05-02 13:57:01 -07:00
erwincoumans cee3ecde2b Merge pull request #1664 from erwincoumans/master 
PyBullet: fix some memory leaks
 2018-05-02 13:54:07 -07:00
erwincoumans 9d66d95b18 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-02 13:18:17 -07:00
erwincoumans 790deb2d54 fix memory leak in PyBullet.getJointStates, fixes issue #1661 2018-05-02 13:12:25 -07:00
Erwin Coumans 2b5f86a593 fix memory leak 2018-05-02 12:49:35 -07:00
erwincoumans d7e81590b5 fix a memory leak 2018-05-02 12:24:31 -07:00
Vincent Saulue-Laborde 0a2f3057d7 Fix some Doxygen comments in btMatrix3x3. 2018-05-02 20:10:53 +02:00
Teemu Patana cfa3a6d2aa Fixed a collision check bug with CCD 2018-05-02 20:22:12 +03:00
erwincoumans 78629e1c6c Merge pull request #1637 from erwincoumans/master 
PyBullet: add signed distance field support, with example/signedDista…
 2018-05-02 09:20:04 -07:00
Erwin Coumans 988d78cb61 enable btMultiBodyGearConstraint positional error correction 
fix multibody debug drawing of joint frames
 2018-05-01 17:40:26 -07:00
Erwin Coumans dde3140987 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-01 13:02:51 -07:00
erwincoumans 540e9a1e55 Merge pull request #1640 from nbelakovski/patch-2 
Fixing include line of btMultibodyWorldImporter.h to work with instal…
 2018-05-01 09:35:03 -07:00
erwincoumans c7d9afac1e fix SoftDemo crash, due to changes in OpenGLGuiHelper rendering 
fixes Issue #1655
 2018-05-01 09:23:08 -07:00
erwincoumans 27c8827136 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-01 08:53:33 -07:00
Erwin Coumans 85db288a95 App_PhysicsServer_SharedMemory_VR: expose max_num_object_capacity and max_shape_capacity_in_bytes (and shared_memory_key) 
Default values are:
int maxNumObjectCapacity = 128 * 1024;
int maxShapeCapacityInBytes = 128 * 1024 * 1024;
int shared_memory_key = -1
 2018-04-30 23:01:15 +02:00
erwincoumans d32e3e51f6 Merge pull request #1650 from JanMatas/fix-softbody-leak 
Fix Large memory leak in bullet Softbody
 2018-04-30 22:16:39 +02:00
erwincoumans f56a77d5f3 Merge pull request #1657 from jietan/pullRequest2 
Update the README.md
 2018-04-30 22:05:53 +02:00
Jie Tan 20dd3d265b update README.md to include paper link in Arxiv. 2018-04-30 11:09:59 -07:00
Jan Matas b1f85268f0 Check for null 2018-04-30 19:01:53 +01:00
Jie Tan 26cebc9aa5 rewrite the README file. 2018-04-26 21:26:08 -07:00
erwincoumans b68f61c325 Merge pull request #1648 from jietan/pullRequest2 
make sure that the pre-trained galloping and trotting policies work f…
 2018-04-26 14:36:29 +02:00
Jan Matas 21418934e0 Reset sparsesdf to free memory. 2018-04-25 16:17:28 +01:00
Jie a375a349ce make sure that the pre-trained galloping and trotting policies work for the minitaur_reactive_env and minitaur_trotting_env environments. 2018-04-24 21:48:27 -07:00
nbelakovski e6a5ff7d5a Fixing include line of btMultibodyWorldImporter.h to work with installed bullet files 
When running make install for Bullet, no "Extras/" folder is created, so the include line as is will fail. This modification should work since the relevant header is in the same folder as this header.
 2018-04-17 11:59:04 -07:00
Erwin Coumans 552cb5852a PyBullet: add signed distance field support, with example/signedDistanceField.py 
See also data\toys\concave_box.urdf and data\toys\concave_box.cdf

data\toys\concave_box.cdf was generated from concave_box.obj using
//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
//SDF is based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid
 2018-04-16 22:57:43 +02:00
erwincoumans 982453abc6 Merge pull request #1635 from erwincoumans/master 
fix spaces/tab issue in urdfEditor.py
 2018-04-13 10:23:31 -07:00