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Author SHA1 Message Date
Erwin Coumans c0183d4834 Merge remote-tracking branch 'bp/master' 2018-07-03 16:28:45 -07:00
Tigran Gasparian 9c7aa3a863 Changes UserData to use global identifiers and makes linkIndex optional. 
This removes the need to specify the body id/link index when retrieving a user data entry.
Additionally, user data can now optionally be set to visual shapes as well.

The following public pybullet APIs have changed (backwards incompatible)
addUserData and getUserDataId
  Makes linkIndex parameter optional (default value is -1)
  Adds optional visualShapeIndex parameter (default value is -1)

getUserData and removeUserData
  Removes required parameters bodyUniqueId and linkIndex

getNumUserData
  Removes required bodyUniqueId parameter

getUserDataInfo
  Removes required linkIndex parameter
  Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
 2018-07-03 17:45:19 +02:00
erwincoumans 23f235e449 PyBullet: add example to enable another physics engine backend (DART, MuJoCo) 2018-07-01 14:49:34 -07:00
erwincoumans 98fc4b1510 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-07-01 14:42:48 -07:00
erwincoumans 0d8564db22 PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. 
PyBullet: add 2d biped example.,
 2018-07-01 14:42:32 -07:00
Erwin Coumans bfc85ff1fd PyBullet: TCP connection, optimized getVREvents to allow faster Windows -> Linux Vive tracking state communication. 2018-06-27 23:43:42 -07:00
erwincoumans 04556502f0 Merge pull request #1778 from erwincoumans/master 
fix hidden API
 2018-06-27 09:21:11 -07:00
Erwin Coumans ac59886960 fix hidden API 2018-06-27 07:39:56 -07:00
erwincoumans c531234f3a Merge pull request #1774 from erwincoumans/master 
PyBullet: allow to replace existing debug lines in addUserDebugLine t…
 2018-06-26 10:40:40 -07:00
Erwin Coumans 6549b0a586 re-enable optional tracking of memory allocations (disabled by default) 2018-06-26 09:19:10 -07:00
Erwin Coumans dffff4d3b6 Merge remote-tracking branch 'bp/master' 2018-06-26 08:58:38 -07:00
erwincoumans e023d94b32 Merge pull request #1775 from bingjeff/marios_fix_global_variables 
remove some debug globals from third_party/bullet
 2018-06-26 08:58:27 -07:00
Erwin Coumans 21b089b0d7 Merge remote-tracking branch 'bp/master' 2018-06-26 08:57:44 -07:00
erwincoumans 1b69e22df6 Merge pull request #1776 from YunfeiBai/master 
Remove the pdController when maxForce = 0
 2018-06-26 08:54:40 -07:00
YunfeiBai 812c229736 Remove the pdController when maxForce = 0 2018-06-24 17:06:16 -07:00
Jeffrey Bingham f2afb4af35 remove some debug globals from third_party/bullet 
There are some debug global variables that prevent using bullet safely on multi-threaded environments (tsan failures).

PATCH from marioprats@
 2018-06-23 22:01:41 -07:00
Erwin Coumans 2c881d0b74 bump up pybullet version to 2.0.9 2018-06-23 11:53:12 -07:00
erwincoumans 49b0ec08e1 PyBullet: allow to replace existing debug lines in addUserDebugLine through the replaceItemUniqueId argument 
See batchRayCast.py for example usage
 2018-06-22 16:47:20 -07:00
erwincoumans 6b2cae1b1d Merge pull request #1769 from RanTig/parallel_raycast_fix 
Several fixes for the parallel raycasts
 2018-06-22 15:49:56 -07:00
Tigran Gasparian 618e3230a4 Fix: Use function context reference instead of value 2018-06-22 20:41:02 +02:00
erwincoumans 09751a0b6b Merge pull request #1770 from erwincoumans/master 
PyBullet urdfEditor use in example,  PyBullet.setPhysicsEngineParameter: only update solverResidualThreshold if needed
 2018-06-22 11:06:37 -07:00
erwincoumans 784f0fdc04 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-06-22 09:28:14 -07:00
erwincoumans 55e185fe39 PyBullet loadURDF in useMaximalCoordinated=True (btRigidBody), support lower/upper limits for revolute joints. 2018-06-22 09:28:07 -07:00
Erwin Coumans 092e39a9e5 PyBullet urdfEditor example, use the pybullet_utils version (more up-to-date) 2018-06-22 09:18:55 -07:00
Erwin Coumans fcde193d52 PyBullet.setPhysicsEngineParameter: only update solverResidualThreshold if valid values is given 2018-06-20 13:18:08 -07:00
Tigran Gasparian b84eb8af74 Several fixes for the parallel raycasts 
- Limits the maximum number of threads to 64, since btThreadSupportPosix
and btThreadsupportWin32 don't support more than 64 bits at this moment,
due to the use of UINT64 bitmasks. This could be fixed by using
std::bitset or some other alternative.
- Introduces a threadpool class, b3ThreadPool, which is a simple wrapper
around btThreadSupportInterface and uses this instead of the global task
scheduler for parallel raycasting. This is actually quite a bit faster
than the task scheduler (~10-15% in my tests for parallel raycasts),
since the advanced features (parallelFor) are not necessary for the
parallel raycasts.
- Puts 16*1024 of MAX_RAY_INTERSECTION_MAX_SIZE_STREAMING in
parentheses, since it otherwise causes problems with other operators
of equal precedence and introduces a smaller constant for Apple targets.
- Refactors the parallel raycasts code and adds some more profiling.
 2018-06-19 18:41:42 +02:00
erwincoumans 8c851a70c7 Merge pull request #1766 from erwincoumans/master 
lazy creation of batch scheduler, it causes issues with the physics.
 2018-06-16 14:02:11 -07:00
erwincoumans 42c9d9aa3c lazy creation of batch scheduler, it causes issues with the physics. 2018-06-16 13:59:03 -07:00
erwincoumans 046d95b7e6 Merge pull request #1765 from erwincoumans/master 
PyBullet: deal with backward compatibility of b3RaycastBatchAddRay
 2018-06-16 13:09:17 -07:00
Erwin Coumans 9b0845a0f1 Merge remote-tracking branch 'bp/master' 2018-06-16 12:30:39 -07:00
erwincoumans c55720fb41 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-06-16 12:28:38 -07:00
erwincoumans 7924d51665 PyBullet: deal with backward compatibility of b3RaycastBatchAddRay: 
use b3RaycastBatchAddRays API to enable MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING num rays.
Old API (b3RaycastBatchAddRay) sticks to 256 rays, MAX_RAY_INTERSECTION_BATCH_SIZE.
 2018-06-16 12:28:21 -07:00
Erwin Coumans 9326fff75a PyBullet: bump up version to 2.0.8 2018-06-16 11:02:04 -07:00
erwincoumans ec37495142 Merge pull request #1761 from erwincoumans/master 
bump up pybullet version
 2018-06-16 10:47:28 -07:00
Erwin Coumans b94df12081 add missing pthread link in App_HelloBulletRobotics 2018-06-16 10:20:43 -07:00
erwincoumans 04d03d10be Fix memory leak due to batchRayCast never deleting the btTaskScheduler. 
(and issue with TaskScheduler/btTaskScheduler.cpp, add JobQueue::exit, call it first, since it uses the m_threadSupport which was deleted before the destrucor was called.
Use a hashmap to store user timers, to avoid allocating many identical strings.
 2018-06-16 09:37:53 -07:00
erwincoumans cb1fce7899 revert exposing getSharedMemoryStreamBuffer / adding to command structure 
use 16k rays by default
add uploadRaysToSharedMemory method
 2018-06-16 08:14:00 -07:00
erwincoumans 23f9250e04 Merge remote-tracking branch 'bp/master' 2018-06-16 06:58:10 -07:00
erwincoumans d660042d76 Merge pull request #1763 from YunfeiBai/master 
Add the pdControlPlugin to the joint control C API, and add the PD co…
 2018-06-16 06:57:50 -07:00
erwincoumans 75ec8f3fd9 PyBullet: add batchRayCast.py example 2018-06-16 06:20:15 -07:00
erwincoumans f517b03534 Expose pushProfileTimer / pop ProfileTimer in PhysicsClient API to benchmark Python parts of PyBullet. 
reduce 'm_cooldownTime' from 1000 microseconds to 100 microseconds (overhead in raycast is too large)
If needed, we can expose this cooldown time.
Replace malloc by btAlignedObjectArray (going through Bullet's memory allocator)
 2018-06-16 06:19:49 -07:00
erwincoumans bb8cbcdaae Merge remote-tracking branch 'bp/master' 2018-06-16 06:06:18 -07:00
erwincoumans 5b3e43d4d8 Merge pull request #1760 from RanTig/ParallelRaycasts 
Adds multithreading support for batch ray casts.
 2018-06-16 05:54:34 -07:00
erwincoumans c9bbd80dc0 Merge pull request #1762 from alexis-jacq/patch-2 
isAlive method forcing done=False for halfcheetah
 2018-06-16 05:32:42 -07:00
Alexis David Jacq 6adea4964f forgot one "isAlive" to change 2018-06-16 14:00:05 +02:00
Alexis David Jacq 50b5edd7b5 isDone instead of isAlive 2018-06-16 13:53:05 +02:00
Erwin Coumans fbbd675ed6 expose PyBullet API to wakeup/put objects to sleep, enable/disable deactivation 
fix wakeup -> reset deactivation clock
 2018-06-15 21:26:26 -07:00
YunfeiBai 1c0de3c4cb Add the pdControlPlugin to the joint control C API, and add the PD control mode (also available in pybullet). Modify the pdControl pybullet example to use the PD control mode with setJointMotorControl API. 2018-06-15 17:59:26 -07:00
Erwin Coumans bb0d70d98b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-06-15 10:27:37 -07:00
Erwin Coumans 1e559feb8f add preliminary vision60 urdf model (no real sizes, no real masses etc) 2018-06-15 10:26:42 -07:00