Bart/bullet3
1
0 Fork 0
Code Issues Pull Requests Releases Wiki Activity
6,320 Commits 10 Branches 0 Tags
ad75ea35b355799089e5db209c5949c74677c9a5
Commit Graph
100 Commits
This Branch
This Branch
All Branches
Author SHA1 Message Date
Erwin Coumans ad75ea35b3 fix new minitaur envs for newer Gym (_step -> step etc), 
add extra sleep to sync Minitaur walk with RTC clock
 2018-04-11 13:22:25 -07:00
erwincoumans ac945df07a remote 'render' arg 2018-04-11 10:14:24 -07:00
erwincoumans 698b20938f fix a number of issues in a series of new Minitaur environments 
add them to pybullet_envs through __init__.py
    id='MinitaurReactiveEnv-v0',
    id='MinitaurTrottingEnv-v0',
    id='MinitaurBallGymEnv-v0',
    id='MinitaurStandGymEnv-v0',
    id='MinitaurAlternatingLegsEnv-v0',
    id='MinitaurFourLegStandEnv-v0',

disable reflection of minitaur_four_leg_stand_env, since the floor changes orientation (reflection is a fixed plane with [0,0,1] normal)

from pybullet_envs.minitaur.envs.minitaur_alternating_legs_env import MinitaurAlternatingLegsEnv
from pybullet_envs.minitaur.envs.minitaur_ball_gym_env import MinitaurBallGymEnv
from pybullet_envs.minitaur.envs.minitaur_randomize_terrain_gym_env import MinitaurRandomizeTerrainGymEnv
from pybullet_envs.minitaur.envs.minitaur_reactive_env import MinitaurReactiveEnv
from pybullet_envs.minitaur.envs.minitaur_stand_gym_env import MinitaurStandGymEnv
from pybullet_envs.minitaur.envs.minitaur_trotting_env import MinitaurTrottingEnv
from pybullet_envs.minitaur.envs.minitaur_four_leg_stand_env import MinitaurFourLegStandEnv
 2018-04-11 10:09:03 -07:00
erwincoumans c2869e0a3c enable planar reflection in minitaur_gym_env.py and locomotion scenes 2018-04-11 08:50:29 -07:00
Erwin Coumans 1f756cfb8d bump up pybullet version to 1.9.5 2018-04-11 01:21:57 -07:00
erwincoumans ffc808784b PyBullet: add planar reflection example, 
See examples/pybullet/examples/addPlanarReflection.py
 2018-04-11 01:03:36 -07:00
erwincoumans 39edcf699c bump up pybullet version, add missing sdf file 2018-04-10 22:59:53 -07:00
Erwin Coumans 7fa5e91cbd replace green stadium with blue checkered Bullet plane 
add missing files to pybullet setup.pu
 2018-04-10 19:55:26 -07:00
Erwin Coumans 0832d3fd22 disable velocity clamp (maxVelocity) in velocity control mode, 
remove some warnings
 2018-04-10 17:21:14 -07:00
Erwin Coumans f37e22bfba fix syntax error 2018-04-10 15:29:31 -07:00
erwincoumans 759d8b5317 nullptr -> 0 (no C++11) 2018-04-09 21:28:29 -07:00
erwincoumans 103f16c64a UINT_MAX requires #include <limits.h> 2018-04-09 20:59:16 -07:00
erwincoumans 5747b1a689 fix case sensitive header include 2018-04-09 20:57:36 -07:00
erwincoumans 7949f31c3e fixes in btMiniSDF 2018-04-08 21:30:06 -07:00
erwincoumans 9ab03057ea add btMiniSDF and btSdfCollisionShape to CMakeLists.txt 2018-04-08 21:25:38 -07:00
erwincoumans 698836d54e Preparation to add signed distance field collision detection. 
btMiniSDF is based on https://github.com/InteractiveComputerGraphics/Discregrid
 2018-04-08 21:10:03 -07:00
Erwin Coumans 380e59be6a explicit cast from double to float in TinyRendererVisualShapeConverter plugin 2018-04-04 16:34:28 -07:00
erwincoumans 5ff2a1d6c8 Update env_bases.py 2018-04-02 22:31:22 -07:00
erwincoumans 507d024f25 add example of a free moving sphere controlled by external torque 
add some toy shape sorter cube (not finished yet)
 2018-04-01 15:55:32 -07:00
erwincoumans 14d37ecb43 first pass of updated minitaur quadruped environment 2018-03-31 21:15:27 -07:00
erwincoumans ec68290497 PyBullet createVisualShape/createVisualShapeArray: postpone visual shape conversion until we know the link inertial transform 2018-03-28 19:08:18 -07:00
Erwin Coumans 6856334d48 fixes: make argument names in header and cpp the same 2018-03-27 16:54:41 -07:00
Erwin Coumans aae19514ac make the method not pure virtual (it breaks some internal code) 2018-03-27 10:18:00 -07:00
erwincoumans 094fa53440 Merge pull request #1611 from alantrrs/master 
Fix simple cloth example. Closes #1606
 2018-03-26 17:17:45 -07:00
erwincoumans fafa939d33 Merge pull request #1579 from lunkhound/parallel-solver-wip3 
Multithreaded constraint solver
 2018-03-26 17:11:05 -07:00
erwincoumans 79e7469a0a Merge pull request #1607 from lunkhound/pr-fix-readme 
fix premake build instructions in README
 2018-03-26 16:28:01 -07:00
erwincoumans 31ab72a0ed Merge pull request #1609 from YunfeiBai/master 
Add PyBullet API to set projective texture.
 2018-03-26 16:27:14 -07:00
erwincoumans f690687416 Merge pull request #1615 from haudren/topic/fixJacobian 
Fix jacobian computation with fixed joints
 2018-03-26 16:25:21 -07:00
Hervé Audren a2e9ecd957 Fix jacobian computation 2018-03-26 18:40:42 +09:00
alantrrs c4f7b5eddf Fix simple cloth example. Closes #1606 2018-03-21 18:52:59 -07:00
yunfeibai 6b97e1e604 Expose API to set projective texture instead of using global. 2018-03-20 21:28:47 -07:00
yunfeibai e42a934e16 Fix compiling error. 2018-03-19 10:23:17 -07:00
Lunkhound b0b7d89979 readme: for premake the options must come before the 'gmake' or they are silently ignored 2018-03-18 23:10:34 -07:00
yunfeibai 37696dd87e Add Bullet C API and pybullet API to set projective texture matrices. 2018-03-18 18:45:54 -07:00
yunfeibai fd7aa8d0e1 Expose using projective texture as a flag in pybullet getCameraImage API. 2018-03-18 17:01:23 -07:00
Lunkhound bdc3c2bafb task scheduler: add multiple job queues to improve performance when there are many threads 2018-03-17 22:59:29 -07:00
Lunkhound 04e0d57dc1 add premake option 'enable-multithreading' 2018-03-16 23:42:43 -07:00
erwincoumans 680ce39e96 Merge pull request #1601 from dbartolini/dev 
Fix warning with -Wmisleading-indentation
 2018-03-15 07:40:32 -07:00
erwincoumans 73d6624da3 Merge pull request #1603 from erwincoumans/master 
add missing implementation of b3RobotSimulatorClientAPI_NoGUI::getCam…
 2018-03-15 07:34:46 -07:00
erwincoumans 9c9ac6cba8 Merge pull request #1604 from jietan/pullRequest 
Revised URDFEditor
 2018-03-15 07:34:25 -07:00
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
erwincoumans 90b6befe3d add missing implementation of b3RobotSimulatorClientAPI_NoGUI::getCameraImage 
Fixes Issue 1602
 2018-03-14 17:33:51 -07:00
Daniele Bartolini e4e82b05b9 Fix warning with -Wmisleading-indentation 2018-03-14 23:19:23 +01:00
Lunkhound e526e48df8 parallel solver: slightly overallocate to reduce how often allocation is needed 2018-03-13 04:19:02 -07:00
erwincoumans 282458684f Merge pull request #1598 from erwincoumans/master 
fix loadTexture for tinyrenderer
 2018-03-12 21:10:35 -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
erwincoumans 11e789d32b Merge pull request #1596 from erwincoumans/master 
example for Issue #1586
 2018-03-10 19:51:09 -08:00
Erwin Coumans f5d7e5bed3 example for Issue #1586 2018-03-10 19:49:30 -08:00
erwincoumans cce41a62ef Merge pull request #1594 from erwincoumans/master 
PyBullet: explicit sync transform right before hardware OpenGL getCam…
 2018-03-09 18:33:28 -08:00
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 159fef5818 PyBullet: explicit sync transform right before hardware OpenGL getCameraImage 2018-03-09 09:56:03 -08:00
erwincoumans d69fefd7e9 Merge pull request #1559 from shubhtuls/patch-1 
minor bugfix in image reshaping in kukaGymEnv.py
 2018-03-08 15:16:30 -08:00
erwincoumans 94118bb2aa Merge pull request #1592 from erwincoumans/master 
git merge --no-ff a-anik-fix-import-spherical
 2018-03-08 15:14:51 -08:00
Erwin Coumans fe8fd9d45a Merge branch 'a-anik-fix-import-spherical' 2018-03-07 16:06:49 -08:00
Erwin Coumans a77bb4869c Merge branch 'fix-import-spherical' of https://github.com/a-anik/bullet3 into a-anik-fix-import-spherical 2018-03-07 16:06:34 -08:00
erwincoumans 31c2e00139 Merge pull request #1587 from a-anik/fix-import-spherical 
Fix import of spherical joint state
 2018-03-07 15:49:09 -08:00
erwincoumans 047da9dc04 Merge pull request #1591 from erwincoumans/master 
Use kF_UseGjkConvexCastRaytest by default for raycast in PyBullet (it…
 2018-03-07 15:47:08 -08:00
Erwin Coumans 90c86d171f Merge remote-tracking branch 'bp/master' 2018-03-07 15:02:41 -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
erwincoumans d77d85edce Merge pull request #1590 from erwincoumans/master 
increase shared memory block size, bump up pybullet version, simplify r2d2 stl meshes
 2018-03-07 13:29:40 -08:00
Erwin Coumans 07f116610f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-03-07 09:48:10 -08:00
Erwin Coumans e134dcdb0b increase shared memory block size ( to reduce image copy steps) 
reduce vertices in r2d2 finger stl files
bump up pybullet vesion
 2018-03-07 09:47:28 -08:00
Lunkhound eec478709a parallel solver: small tweaks and fixes 2018-03-06 02:43:59 -08:00
Lunkhound 45fd4acf6e dynamicsWorldMt: make island mgr aware of whether a parallel solver is present and make handoff from parallel solver to solver-pool more explicit 2018-03-05 20:05:38 -08:00
erwincoumans 8bde0d35cc Merge pull request #1589 from GaborPuhr/Fix-for-#1567 
Fix for #1567
 2018-03-05 16:10:46 -08:00
a 86ca7dc2d1 Fix for #1567 2018-03-05 23:25:25 +01:00
erwincoumans 6d326a79c8 Merge pull request #1575 from erwincoumans/master 
fix minor sdf warning in kiva_shelf/model.sdf
 2018-03-04 12:34:21 -08:00
Erwin Coumans 283d646e57 add random_urfs individually 2018-03-04 12:33:31 -08:00
Alexey Anikeenko feaa21e33c Fix import of spherical joint state 
Spherical joints in btMultiBody have 4 positional variables.
 2018-03-05 01:33:15 +07:00
Lunkhound d900a74939 add new source files to setup.py to fix travis-ci build 2018-02-27 03:03:12 -08:00
Lunkhound 06690e542b fix compile error for GCC 2018-02-27 00:30:45 -08:00
Lunkhound b8720f2161 parallel solver: various changes 
- threading: adding btSequentialImpulseConstraintSolverMt
 - task scheduler: added parallelSum so that parallel solver can compute residuals
 - CommonRigidBodyMTBase: add slider for solver least squares residual and allow multithreading without needing OpenMP, TBB, or PPL
 - taskScheduler: don't wait for workers to sleep/signal at the end of each parallel block
 - parallel solver: convertContacts split into an allocContactConstraints and setupContactConstraints stage, the latter of which is done in parallel
 - parallel solver: rolling friction is now interleaved along with normal friction
 - parallel solver: batchified split impulse solving + some cleanup
 - parallel solver: sorting batches from largest to smallest
 - parallel solver: added parallel batch creation
 - parallel solver: added warmstartingWriteBackContacts func + other cleanup
 - task scheduler: truncate low bits to preserve determinism with parallelSum
 - parallel solver: reducing dynamic mem allocs and trying to parallelize more of the batch setup
 - parallel solver: parallelize updating constraint batch ids for merging
 - parallel solver: adding debug visualization
 - task scheduler: make TBB task scheduler parallelSum deterministic
 - parallel solver: split batch gen code into separate file; allow selection of batch gen method
 - task scheduler: add sleepWorkerThreadsHint() at end of simulation
 - parallel solver: added grain size per phase
 - task Scheduler: fix for strange threading issue; also no need for main thread to wait for workers to sleep
 - base constraint solver: break out joint setup into separate function for profiling/overriding
 - parallel solver: allow different batching method for contacts vs joints
 - base constraint solver: add convertJoint and convertBodies to make it possible to parallelize joint and body conversion
 - parallel solver: convert joints and bodies in parallel now
 - parallel solver: speed up batch creation with run-length encoding
 - parallel solver: batch gen: run-length expansion in parallel; collect constraint info in parallel
 - parallel solver: adding spatial grid batching method
 - parallel solver: enhancements to spatial grid batching
 - sequential solver: moving code for writing back into functions that derived classes can call
 - parallel solver: do write back of bodies and joints in parallel
 - parallel solver: removed all batching methods except for spatial grid (others were ineffective)
 - parallel solver: added 2D or 3D grid batching options; and a bit of cleanup
 - move btDefaultTaskScheduler into LinearMath project
 2018-02-26 22:47:33 -08:00
Erwin Coumans 4d6e2c1905 update imgui test 2018-02-24 14:57:49 -08:00
Erwin Coumans 34e0c4b62f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-02-23 18:56:25 -08:00
Erwin Coumans 5688477bfb fix sdf warning 2018-02-23 18:56:11 -08:00
erwincoumans 94bc897067 Merge pull request #1574 from erwincoumans/master 
fix glx include
 2018-02-22 09:41:01 -08:00
Erwin Coumans 05b02d6b3e fix glx include 2018-02-22 09:08:10 -08:00
erwincoumans 90b34680b0 Merge pull request #1572 from erwincoumans/master 
explicitly remove textures during resetSimulation
 2018-02-22 08:37:03 -08:00
erwincoumans c632fea48d PyBullet: remove VisualLeakDetector 2018-02-21 23:44:57 -08:00
erwincoumans 73a4334e30 explicitly remove textures during resetSimulation 
move glViewport to Win32Window
 2018-02-21 23:22:16 -08:00
erwincoumans 91f77dfb39 Merge pull request #1571 from erwincoumans/master 
fix __init__.py
 2018-02-21 12:42:37 -08:00
Erwin Coumans 15c46a0237 bump up pybullet version, add missing glad file(s) to MANIFEST.in 2018-02-21 11:46:53 -08:00
Erwin Coumans 15608acc4f bump up pybullet version 2018-02-21 10:48:04 -08:00
Erwin Coumans 8ba9644e78 fix __init__.py 2018-02-21 10:47:24 -08:00
Erwin Coumans 67318f3323 fix __init__.py 2018-02-21 10:45:06 -08:00
erwincoumans 3508a4523b Merge pull request #1560 from YunfeiBai/master 
Add shader and example for projective texture.
 2018-02-21 10:23:18 -08:00
erwincoumans 8bc39ab11e Merge pull request #1569 from erwincoumans/master 
allow to build GLFW version of Bullet examples on Linux (use premake4…
 2018-02-21 10:07:39 -08:00
Erwin Coumans a3c2ce1cef add __init__.py for pybullet_envs.prediction 2018-02-21 10:06:46 -08:00
erwincoumans 0e0b7cb9f8 glew->glad 2018-02-21 08:59:06 -08:00
erwincoumans f341acc44a glew->glad 2018-02-21 08:50:47 -08:00
erwincoumans 4343d041da more work towards glew->glad 2018-02-21 08:36:53 -08:00
erwincoumans 5679802c24 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-02-21 08:20:01 -08:00
erwincoumans 483f017613 fix VR build 2018-02-21 08:19:49 -08:00
Erwin Coumans 9288ea9c6a fix mac osx build 2018-02-21 08:16:00 -08:00
Erwin Coumans 3a019be57e Merge remote-tracking branch 'bp/master' 2018-02-21 07:31:00 -08:00
Erwin Coumans c2b59776ed CMakeLists glew to glad 2018-02-20 21:09:31 -08:00
Erwin Coumans 92fd206dac bump up pybullet version 2018-02-20 20:59:41 -08:00
Erwin Coumans d583269430 fix glad_glx on linux 2018-02-20 20:57:55 -08:00