5 Commits

Author	SHA1	Message	Date
erwincoumans	c4b1b84687	Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis ... https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section) Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto	2018-01-09 22:47:56 -08:00
Erwin Coumans	e97b751781	further work on urdfEditor.py, fix some serialization issues	2018-01-08 12:25:56 -08:00
Erwin Coumans	0326fa93a8	made some progress in saving and restoring the state during the simulation, with identical results. ... Option to de/serialize btPersistentContactManifolds and fix lossy conversion during btMultiBody de/serialization of base world transform (serialize the quaternion, not the converted 3x3 matrix) There are still several caches not taken into account, and btMultiBody links/constraints are not deserialized yet etc. See examples\pybullet\examples\saveRestoreState.py for an example.	2017-12-30 14:19:13 -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
Erwin Coumans	7503418c72	Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. ... Add several MSVC optimization flags to cmake. Bump up VERSION because serialization format changed Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo. pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED	2017-03-26 13:06:46 -07:00