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557 Commits

Author SHA1 Message Date
jietan
f4ca3f5963 Fix a bug that createVisualShape(Array) does not have the correct color. Add urdfEditor.py to pybullet_utils. Remove all unnecessary changes of white spaces. 2018-03-14 21:14:44 -07:00
jietan
d91a58e050 Merge remote-tracking branch 'bp/master' into pullRequest 2018-03-14 20:19:31 -07:00
jietan
413be3547b fix a bug that createVisualShape(Array) does not have the correct color. Add urdfEditor.py to pybullet_utils. 2018-03-12 21:06:19 -07:00
erwincoumans
b62501d04d fix loadTexture for tinyrenderer 2018-03-12 19:40:13 -07:00
Erwin Coumans
69d343386d PyBullet/C-API: implement createVisualShapeArray, with multiple visual shapes (require 1 texture max, since visual shapes are merged) 2018-03-09 18:02:06 -08:00
Erwin Coumans
b578361acf Use kF_UseGjkConvexCastRaytest by default for raycast in PyBullet (it is more robust/accurate, but a bit slower) 
Use 10*EPSILON, as suggested in Gino's paper:
http://www.continuousphysics.com/ftp/pub/test/files/physics/papers/jgt04raycast.pdf
 2018-03-07 14:51:51 -08:00
a
2348c6ba0a Fix for #1582 2018-03-05 23:05:22 +01:00
erwincoumans
73a4334e30 explicitly remove textures during resetSimulation 
move glViewport to Win32Window
 2018-02-21 23:22:16 -08:00
Erwin Coumans
b0984de046 preparation to replace glew by glad 2018-02-20 19:44:02 -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
erwincoumans
a6849de99c Merge pull request #1555 from JanMatas/softBody-opengl-rendering 
Implemented support for softbodies in OpenGL renderer
 2018-02-18 10:48:46 -08:00
erwincoumans
ddf304ca78 PyBullet: expose internal edge utility, to adjust edge normals to prevent object penetrating along triangle edges of concave triangle meshes 
(due to local convex-triangle collisions causing opposite contact normals, use the pre-computed edge normal)
PyBullet: expose experimental continuous collision detection for maximal coordinate rigid bodies, to prevent tunneling.
 2018-02-16 19:44:33 -08:00
Jan Matas
817fb40fb5 Revert "Create a new pointer in btCollisionShape instead of just using userPtr." 
This reverts commit d2d987a5ed.

After discussion, we decided to use userPtr.
 2018-02-12 11:26:39 +00:00
Jan Matas
d2d987a5ed Create a new pointer in btCollisionShape instead of just using userPtr. 2018-02-08 13:49:36 +00:00
Jan Matas
82214eb99f Implemented support for softbodies in OpenGL renderer 2018-02-08 13:31:40 +00:00
erwincoumans
a92423b6f7 minor clarification in UrdfRenderingInterface 2018-01-21 11:15:35 -08:00
erwincoumans
329a1f5a74 PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin. 2018-01-17 12:48:48 -08:00
erwincoumans
df89ce6f92 small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin. 2018-01-16 17:58:19 -08:00
Erwin Coumans
af43e6465d fix wrong enum type 2018-01-15 15:13:11 -08:00
erwincoumans
9d405fde67 PyBullet: free cached textures 
PyBullet: bool PhysicsServerCommandProcessor::pickBody, disable collision filtering to allow picking of all objects
 2018-01-15 08:36:08 -08:00
erwincoumans
3c770e56fb PyBullet/C-API: only free handle if we found it 2018-01-14 12:35:40 -08:00
erwincoumans
0919ce0f30 PyBullet: fix issue when picking an object while it is remove using PyBullet.removeBody 2018-01-14 11:01:57 -08:00
erwincoumans
22b4809891 leave m_useGlobalVelocities to false, until enabled, for backward compatibility 
use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
 2018-01-10 11:16:50 -08:00
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
erwincoumans
e138e85bca allow to enable/disable implicit cylinder conversion through an API 
p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER)
allow to enable/disable deterministicOverlappingPairs through an API
p.setPhysicsEngineParameter(deterministicOverlappingPairs = False)
 2018-01-09 10:10:36 -08:00
YunfeiBai
de3b8bf3c9 Merge branch 'master' into master 2018-01-08 18:13:03 -08:00
Erwin Coumans
e97b751781 further work on urdfEditor.py, fix some serialization issues 2018-01-08 12:25:56 -08:00
yunfeibai
d3bc98e245 Add filename as an argument in the softbody loading function. 2018-01-07 19:56:46 -08:00
yunfeibai
d077bdec07 Change the API names for loading softbody. 2018-01-07 19:24:37 -08:00
yunfeibai
e3e9546960 Load the deformable object through obj file. Modify the demo for two way coupling between multibody and softbody. 2018-01-07 19:06:09 -08:00
Erwin Coumans
a85a4f387b more work on UrdfEditor.py 2018-01-06 15:00:20 -08:00
Erwin Coumans
c59a3763e5 tweak ImportMJCFSetup.cpp example MJCF humanoid a bit, clamp target positions to be within joint limits to avoid solver problems (conflicting constraints) 
add humanoid_manual_control.py PyBullet example which is similar to ImportMJCFSetup.cpp
 2018-01-04 13:14:11 -08:00
Erwin Coumans
79d78a325a Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body. 
Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape.
Implement PyBullet.getCollisionShapeData
Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!)
Extend PyBullet.getJointInfo: add parentIndex
 2018-01-03 19:17:28 -08:00
Erwin Coumans
35b44f8a85 implement pybullet.saveState command, for in-memory storage of state. 
bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010
 2017-12-31 15:37:16 -08:00
Erwin Coumans
9c55b61315 pybullet.createVisualShape: process sphere radius, box half extents, capsule+cylinder radius/length 
fixes issue #1427, https://github.com/bulletphysics/bullet3/issues/1427
 2017-12-30 17:42:13 -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
Erwin Coumans
5517cbc4e0 add segmask_linkindex.py example using p.getCameraImage(320,200,flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX) 
to extract object unique id and link index from segmentation mask in getCameraImage
 2017-12-28 12:37:07 -08:00
Erwin Coumans
97547eda0d preliminary work towards saveState/restoreState and saveRestoreState.py example (not implemented yet) 
allow multiple options in connect, for example: p.connect(p.GUI, options="--width=640, --height=480")
 2017-12-28 10:05:51 -08:00
erwincoumans
41f9bb89e5 expose API to change the local inertia diagonal, pybullet.ChangeDynamics(objectUid, linkIndex, localInertiaDiagonal=[xx,yy,zz]) 2017-12-20 16:56:31 -08:00
erwincoumans
eb35cba740 expose local inertia diagonal in C-API, PyBullet, through the 'getDynamicsInfo' 
render the inertia boxes in examples/pybullet/examples/quadruped.py and examples/pybullet/examples/reset_dynamic_info.py
fix an issue where the original margin (0.04) was used to compute the inertia, instead of latest margin
 2017-12-20 14:54:32 -08:00
erwincoumans
8ff75e11cd fixes related to torsional friction, due to recent cone friction update. 2017-11-28 20:09:56 -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
erwincoumans
ab843b26f0 expose a maximum velocity due to the joint motor in position control. 
see also pybullet/examples/motorMaxVelocity.py
this fixes issue 1444
 2017-11-21 17:05:28 -08:00
erwincoumans
81146a4090 pybullet: move RGB,depth, segmentation mask preview windows to the right 
remove some dead code from PhysicsServerCommandProcessor.cpp
 2017-11-18 13:21:20 -08:00
erwincoumans
a9b59b4511 Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. 
Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
 2017-11-17 16:14:18 -08:00
erwincoumans
6be7e34dd6 pybullet vr_kuka_setup.py: add a gear joint, to keep the gripper centered, 
vr_kuka_control.py: control all joints, use analogue button to close gripper
remove some debug warnings/prints
pybullet, avoid crash in changeUserConstraint if not passing a [list]
allow some gym environments (pybullet_pendulum and locomotors) to re-use an existing physics client connection.
 2017-11-12 10:36:30 -08:00
erwincoumans
7524e37124 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-25 08:15:14 -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
erwincoumans
c1ba04a580 Merge pull request #1404 from erwincoumans/master 
perform IK in local body-fixed frame ,  add jointFrictionDamping.py example
 2017-10-25 00:52:16 +00:00
Erwin Coumans
7a1dbf2e59 allow IK on a floating base, see video: 
add inverse_kinematics_husky_kuka.py example
fix spacing in inverse_dynamics.py
 2017-10-25 00:32:47 -07:00