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Author SHA1 Message Date
Erwin Coumans 4fc697f646 fix _WIN32 lacking #include <inttypes.h> 
allow creation of multiple shared memory segments on win32.
fix pybullet compilation on Visual Studio 2010 (old compiler)
 2017-01-06 10:19:19 -08:00
Erwin Coumans 44126584fb Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-06 09:56:04 -08:00
Erwin Coumans af57c812aa Merge remote-tracking branch 'bp/master' 2017-01-06 07:39:08 -08:00
erwincoumans 5b2ad7285c Merge pull request #912 from benelot/robotcontrol-update 
Update robotcontrol.py script
 2017-01-06 07:37:36 -08:00
Erwin Coumans 249f843d4e update pybullet quickstart guide, add setVRCameraState and added drawing that visualizes base, joints and links. 2017-01-05 18:18:46 -08:00
Erwin Coumans 83e103ac15 Add pybullet setVRCameraState and b3SetVRCameraStateCommandInit to set the VR camera root transform (position/orientation) and optional tracking object unique id (-1 for no tracking) 
Fix robotcontrol.py script, getContactPointData -> getContactPoints
 2017-01-05 17:41:58 -08:00
erwincoumans fb51c3f7ed Merge pull request #901 from erwincoumans/master 
fix win32 UNICODE build, update pybullet quickstart quide PDF, pybullet.loadMJCF hookup
 2016-12-31 17:40:28 -08:00
erwincoumans 92b53a4990 Merge pull request #895 from lunkhound/pr-fix-example-browser-text 
example browser: restore on-screen text
 2016-12-31 17:40:08 -08:00
Erwin Coumans c940f0ec47 update pybullet quickstart quide PDF 
hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
 2016-12-31 14:43:15 -08:00
erwincoumans 7d7e2fdf77 Merge pull request #900 from erwincoumans/master 
First step towards a MuJoCo MJCF importer for Bullet. It can load the…
 2016-12-30 19:02:10 -08:00
Erwin Coumans fdd517e00f First step towards a MuJoCo MJCF importer for Bullet. It can load the humanoid.xml, ant.xml and some other OpenAI GYM asset files. Not all fields are converted, so it is work-in-progress. This is useful for Reinforcement Learning experiments, and would also help integration with DeepMind Lab. 2016-12-30 18:32:57 -08:00
erwincoumans 8efdd272b2 Merge pull request #899 from erwincoumans/master 
pybullet: allow to connect to multiple physics servers, while maintai…
 2016-12-28 22:51:40 -08:00
Erwin Coumans 7b9d194bfd fix compile issues 2016-12-28 22:38:48 -08:00
Erwin Coumans d7d4fe5c45 fix compile issue (use constructor) 2016-12-28 22:24:03 -08:00
Erwin Coumans ac02acc2f3 fix compile issue (btMin requires same types, no conversion, just replace with < = combo) 2016-12-28 22:10:03 -08:00
Erwin Coumans 82995a8343 pybullet, more robust multi-server connections 
Windows shared memory: allow to use custom key.
Improve GUI performance on Windows, submit letters in text as a batch (fewer draw-calls)
quadruped.py: first try to connect to SHARED_MEMORY, if it fails (<0) use GUI
increase Chrome about://tracing json export capacity (press 'p' in Example Browser)
UDP physics server: add --port and --sharedMemoryKey command-line arguments
PhysicsServerExample: add --sharedMemoryKey command-line option (for VR example too)
ExampleBrowser: sleep a few milliseconds if rendering is too fast, use --minUpdateTimeMicroSecs=0 to disable
 2016-12-28 21:51:54 -08:00
Erwin Coumans da2cc483b4 pybullet: allow to connect to multiple physics servers, while maintaining backwards compatibility. connect method returns an integer 'physicsClientId'. This can be passed as optional argument to each method (except for a few 'obsolete' ones. 2016-12-27 20:25:52 -08:00
erwincoumans a5ecbbc682 Merge pull request #898 from erwincoumans/master 
many pybullet / VR improvements
 2016-12-27 15:57:17 -08:00
Erwin Coumans 018aa08bf8 suppress Linux error related to PRIu64/__STDC_FORMAT_MACROS 2016-12-26 22:55:28 -08:00
Erwin Coumans 178a002cb5 prev -> prevPosition 2016-12-26 22:40:08 -08:00
Erwin Coumans b55d76acbc clarify field names in vrEvent.py 2016-12-26 22:36:53 -08:00
Erwin Coumans c378d236bb make the event fields understandable 2016-12-26 22:31:41 -08:00
Erwin Coumans a4cf0c8b11 Linux clock_gettime needs rt / librt, so put it behind BT_LINUX_REALTIME for now. 2016-12-26 22:00:39 -08:00
Erwin Coumans 7aa7c4dfee Linux needs #include <time.h>? 
/home/travis/build/bulletphysics/bullet3/src/LinearMath/btQuickprof.cpp:251:19: error: ‘CLOCK_REALTIME’ was not declared in this scope
/home/travis/build/bulletphysics/bullet3/src/LinearMath/btQuickprof.cpp:251:37: error: ‘clock_gettime’ was not declared in this scope
 2016-12-26 21:15:59 -08:00
Erwin Coumans 9c12e4edb0 don't reset the simulation (in C++), when pressing some VR button 
add some little tests in vrEvent.py
 2016-12-26 21:08:10 -08:00
Erwin Coumans 826c5854a8 See also pybullet quickstart guide here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# 
vrevent.py: add a Tiltbrush-style drawing example using pybullet
Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes.
Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width
expose rayTest to pybullet/shared memory API (single ray for now)
add pybullet getMatrixFromQuaterion
 2016-12-26 19:40:09 -08:00
Erwin Coumans e592290f4c tweaks/fixes in about://tracing performance data generator (press and hold 'p' in example browser, release 'p' will save the file 'timingsX.json') 2016-12-23 21:56:31 -08:00
Erwin Coumans 4c06fd27b3 Example Browser: add option (keypress 'p') to dump json timing profile trace, that you can open using Chrome about://tracing 
Make btQuickprof thread safe
Add option in btQuickprof to override custom timing profile (btSetCustomEnterProfileZoneFunc, btSetCustomLeaveProfileZoneFunc)
remove b3Printf in a user/physics thread (those added added, while drawing the GUI running in the main thread)
 2016-12-23 15:20:04 -08:00
Erwin Coumans da7ae53941 render regular view on desktop in VR, instead of distortion view. 2016-12-20 17:34:12 -08:00
erwincoumans 1deb3c1666 Merge pull request #894 from lunkhound/pr-fix-kinematics 
FIX: kinematic objects treated as static when BT_THREADSAFE is defined
 2016-12-19 22:49:01 -08:00
erwincoumans e71560a2ee Merge pull request #892 from erwincoumans/master 
Fix contact normal issue if disabling/using small margins, See Issue …
 2016-12-19 16:01:26 -08:00
Erwin Coumans e0c46f4b1a Fix contact normal issue if disabling/using small margins, See Issue #889 
See Issue #889 : GJK/EPA: use smaller tolerances in BT_USE_DOUBLE_PRECISION mode
 2016-12-18 18:37:53 -08:00
erwincoumans b9f1a5da5c Merge pull request #890 from erwincoumans/master 
(finally!) add option to terminate PGS constraint solvers based on a least square residual threshold
 2016-12-18 17:03:46 -08:00
Erwin Coumans 379a852f93 fix compile issues 2016-12-16 18:43:21 -08:00
Erwin Coumans 8ff1e55166 disable VERBOSE_RESIDUAL_PRINTF 2016-12-16 18:12:33 -08:00
Erwin Coumans dcd02a1e15 add option to terminate PGS constraint solvers based on a least square residual threshold 
(for example solverInfo().m_leastSquaresResidualThreshold = 1e-7 and use large m_numSolverIterations
disable sphere-sphere contact cache, it is buggy (some contact point stay in the cache, when sphere penetrates more than total margins)
tweak some gpu demo settings
 2016-12-16 18:09:52 -08:00
Erwin Coumans 38b10137c9 allow to terminate btSolveProjectedGaussSeidel MLCP solver based on a least squares residual threshold (m_leastSquaresResidualThreshold) 2016-12-16 14:30:12 -08:00
erwincoumans 75633d5d14 Merge pull request #887 from erwincoumans/master 
update to OpenVR 1.04 and premake5.exe
 2016-12-15 18:13:58 -08:00
Erwin Coumans 5630a63848 remove 'Kuka' postfix from pybullet.calculateInverseKinematics 
add basic pybullet quickstart pdf documentation
 2016-12-14 21:11:53 -08:00
Erwin Coumans 9ae40a59ba export joint types in pybullet for pybullet.createConstraint 
revert to premake4.exe, the targetsuffix etc doesn't seem to work in premake5.exe
 2016-12-14 20:44:10 -08:00
erwincoumans 0c26fee04d Merge pull request #886 from erwincoumans/master 
some VR tweaks and bugfix for issue #878
 2016-12-11 12:53:47 -08:00
Erwin Coumans 436fdd5dc2 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-12-11 09:28:53 -08:00
Erwin Coumans 17570c4700 tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo 
allow VR physics server to run with or without 'realTimeSimulation'
 2016-12-11 09:28:36 -08:00
Erwin Coumans 032e0fb3ce Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-12-11 09:17:04 -08:00
Erwin Coumans 710ac09b56 fix clearVelocities (should use 6+dofCount, not 6+numLinks 
fixes issue 878
 2016-12-11 09:16:18 -08:00
erwincoumans e8f38df121 Merge pull request #885 from YunfeiBai/master 
Fix a bug when rendering texture.
 2016-12-09 17:32:30 -08:00
erwincoumans 191b56e687 Merge pull request #884 from YunfeiBai/master 
Expose ambient, diffuse, and specular coefficients of the TinyRenderer light.
 2016-12-09 08:56:26 -08:00
Erwin Coumans 27d38a1ba8 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-12-05 11:58:06 -08:00
Erwin Coumans 024ab6725b expose pybullet.setPhysicsEngineParameter(numSubSteps=int) 2016-12-05 11:54:56 -08:00
erwincoumans 08c9bf88e9 Merge pull request #882 from erwincoumans/master 
expose numSubSteps to pybullet
 2016-12-01 18:13:27 -08:00
erwincoumans 7d4f885be3 Merge pull request #881 from YunfeiBai/master 
Restore TinyRenderObjectData API for backward compatibility
 2016-12-01 18:12:53 -08:00
erwincoumans 179c48cc58 Merge pull request #880 from erwincoumans/master 
fix backward compatibility issue with pybullet:loadURDF
 2016-12-01 09:52:05 -08:00
Erwin Coumans e20c487e52 fix backward compatibility issue with pybullet:loadURDF 2016-12-01 09:51:28 -08:00
erwincoumans b986e45417 Merge pull request #877 from erwincoumans/master 
add <restitution> in <contact> settings of URDF/SDF etc
 2016-11-30 22:49:57 -08:00
Erwin Coumans 15cda75130 add <restitution> in <contact> settings of URDF/SDF 
allow 'useMaximalCoordinates' and 'useFixedBase' in pybullet.loadURDF.
enable split impulse for btRigidBody, even in btMultiBodyDynamicsWorld.
allow initialization of velocity and apply force for btRigidBody in pybullet/shared memory API.
process contact parameters in URDF also for btRigidBody (friction, restitution etc)
add pybullet.setPhysicsEngineParameter with numSolverIterations, useSplitImpulse etc.
 2016-11-30 22:24:20 -08:00
erwincoumans a5eda81e47 Merge pull request #867 from lunkhound/pr-slider-widget 
example browser: slider widget improvements
 2016-11-29 21:08:48 -08:00
erwincoumans 81d9305d8d Merge pull request #876 from erwincoumans/master 
add a textured tray URDF/OBJ/MTL/JPG
 2016-11-29 20:37:01 -08:00
erwincoumans 273f04e0de Merge pull request #875 from YunfeiBai/master 
Add shadow to TinyRenderer.
 2016-11-29 19:13:15 -08:00
Erwin Coumans 746c4d0d2a add a tray, similar to those ones: 
https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html

tune the VR demo a bit, to make it more user friendly.
 2016-11-29 17:08:47 -08:00
Erwin Coumans 8de35cf01c remove prefix/postfix from pybullet, so it becomes pybullet.so and pybullet_d.so in debug mode (and on Windows, pybullet.pyd and pybullet_d.pyd) 
fix build_cmake_pybullet_win32.bat, so it links against correct version of pythonx.lib pythonx_d.lib. Still, I would prefer using premake on Windows, it has more native Visual Studio features.
 2016-11-29 09:09:35 -08:00
erwincoumans 5e52760fbd Merge pull request #873 from erwincoumans/master 
fix pybullet:getClosestPoints, add pybullet:get/resetBaseVelocity
 2016-11-28 16:18:30 -08:00
Erwin Coumans 2d42c7963a add pybullet getBaseVelocity / resetBaseVelocity 
C-API b3CreatePoseCommandSetBaseLinearVelocity/b3CreatePoseCommandSetBaseAngularVelocity
 2016-11-28 15:11:34 -08:00
Erwin Coumans 2e372a525e remove duplicate 'setTimeStep' in pybullet.c 2016-11-28 12:36:52 -08:00
Erwin Coumans c0113310ca Merge branch 'master' of https://github.com/erwincoumans/bullet3 2016-11-23 09:59:50 -08:00
Erwin Coumans ca71b84913 fix uninitialized m_lightColor (see ExampleBrowser/Rendering/TinyRenderer, Software was black. 2016-11-21 22:33:23 -08:00
erwincoumans d4a18c5634 Update NN3DWalkers.cpp 
the excessive stack-space requirements in printWalkerConfigs breaks some proprietary/internal build systems.
 2016-11-21 10:18:48 -08:00
erwincoumans 659e36102d Merge pull request #868 from erwincoumans/master 
pybullet/shmem API: setDebugObjectColor
 2016-11-21 10:11:00 -08:00
erwincoumans 1f35697152 Merge pull request #866 from erwincoumans/master 
separate 'getClosestPointsAlgorithm', various pybullet improvements
 2016-11-21 07:41:45 -08:00
erwincoumans 323609b087 Merge pull request #865 from YunfeiBai/master 
Set light color.
 2016-11-21 07:41:11 -08:00
erwincoumans 936a104fb2 re-enable samurai.urdf loading for VR demo 2016-11-18 08:08:46 -08:00
erwincoumans 1db3d01851 Merge pull request #860 from lunkhound/pr-renamed-unique-id 
collisionObject: renamed uniqueId to worldArrayIndex
 2016-11-17 18:31:06 -08:00
erwincoumans d9ebe381e9 Merge pull request #864 from erwincoumans/master 
add pybullet getCameraImage, replacing renderImage, cleaner API:
 2016-11-17 18:18:10 -08:00
erwincoumans 3130e59974 Merge pull request #863 from erwincoumans/master 
tweak quadruped script to make a few more moves
 2016-11-17 11:05:20 -08:00
Erwin Coumans ee7a5a470f tweak quadruped script to make a few more moves 2016-11-16 21:36:51 -08:00
erwincoumans 6598c942ae Merge pull request #862 from erwincoumans/master 
add quadruped.py to initialize a Minitaur-like quadruped robot and humanoid/nao.urdf
 2016-11-16 19:17:05 -08:00
erwincoumans 361d398856 Merge pull request #859 from erwincoumans/master 
pybullet loadBullet/saveBullet, allow ExampleBrowser with --opengl2 fallback with z-up axis,
 2016-11-14 08:51:07 -08:00
erwincoumans d49e3d787a fix rolling/spinning friction in raytest demo. 2016-11-12 12:24:20 -08:00
erwincoumans 9bad64fed9 allow obsolete OpenGL2 drawer to render with z-up axis. 2016-11-12 11:59:40 -08:00
erwincoumans fd90589cc2 disable dead code 2016-11-10 15:44:03 -08:00
erwincoumans 02c781e56b disable dead code 2016-11-10 15:42:55 -08:00
erwincoumans 4c2c2bf74b Merge pull request #858 from erwincoumans/master 
pybullet getClosestPoints collision query. center gripper (1 version)
 2016-11-10 12:08:17 -08:00
erwincoumans e65f9af230 Merge pull request #857 from erwincoumans/master 
fix compile issues
 2016-11-09 12:56:06 -08:00
erwincoumans f54cee55d5 Merge pull request #856 from erwincoumans/master 
move CommonRigidBodyMTBase out of interfaces, into MultiThreadedDemo.
 2016-11-07 18:46:44 -08:00
erwincoumans 5d1babea38 Merge pull request #855 from erwincoumans/master 
add proper 'App_PhysicsServerUDP' without shared memory usage, and re…
 2016-11-07 08:48:23 -08:00
erwincoumans ec78184604 Update README.md 2016-11-07 08:42:39 -08:00
erwincoumans dced3521a2 Merge pull request #848 from Kotolegokot/master 
Fix a little typo
 2016-11-06 13:45:13 -08:00
erwincoumans 0bf3a96365 Merge pull request #852 from YunfeiBai/master 
Fix memory leak in IK.
 2016-11-05 13:31:31 -07:00
erwincoumans c738e2269e Merge pull request #853 from erwincoumans/master 
add UDP network connection for physics client <-> server
 2016-11-05 13:30:45 -07:00
Erwin Coumans cf21da4c9d fix a few issues in UDP networking 2016-11-04 17:44:16 -07:00
erwincoumans a49d2b289e Merge pull request #850 from YunfeiBai/master 
Contact handling between btMultiBody and btSoftBody.
 2016-11-03 16:16:07 -07:00
erwincoumans 908cb2def2 Merge pull request #851 from erwincoumans/master 
serialization structures update, needed to be done since
 2016-11-03 09:11:36 -07:00
erwincoumans f64166d71e Merge pull request #847 from lunkhound/thread-work4 
MultiThreading for Bullet 2.x
 2016-11-03 09:11:15 -07:00
erwincoumans f01389ded2 Merge pull request #842 from erwincoumans/master 
added b3PhysicsParamSetInternalSimFlags command, and pybullet setInte…
 2016-10-23 08:26:52 -07:00
erwincoumans c2ca88bf44 added b3PhysicsParamSetInternalSimFlags command, and pybullet setInternalSimFlags API. 
//Use at own risk: magic things may or my not happen when calling this API.

This allows to enable/disable robot assets (samurai world, gripper, KUKA robot etc) in Physics Server (and App_PhysicsServerVR etc)
1 = create robot assets
2 = create experimental box-vr-gui

Add optional command-line parameter for App_PhysicsServerVR, --norobotassets, to start with an empty world, no assets in VR (no gripper, no kuka)
 2016-10-23 07:14:50 -07:00
erwincoumans 2c6237abda process todo in CMakeLists.txt 2016-10-22 13:53:44 -07:00
erwincoumans 79d9e6b15e move CommonTimeWarpBase.h to Evolution/NN3DWalkersTimeWarpBase, it is not a common interface. 2016-10-22 13:50:08 -07:00
erwincoumans c83dde6344 Merge pull request #841 from YunfeiBai/master 
Programmatic render API for changing texture in TinyRenderer.
 2016-10-22 07:16:06 -07:00
erwincoumans 0d91a480af Merge pull request #840 from erwincoumans/master 
Update fontstash.cpp
 2016-10-22 07:11:39 -07:00
erwincoumans ebc7692a78 Update NN3DWalkers.cpp 
delete m_timeSeriesCanvas, otherwise the windows accumulate at restart
make text a little bit smaller, too much overlap. If this has issues, please add a dropdown menu for text ;-)
 2016-10-21 08:52:11 -07:00
erwincoumans c481662938 Merge pull request #723 from benelot/3D-NN-walkers-example 
Simple Neural Network 3D Walkers example
 2016-10-21 08:47:35 -07:00