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915 Commits

Author SHA1 Message Date
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
erwincoumans
5f203df65a Update btConvexConvexAlgorithm.cpp 2018-06-13 07:47:14 -07:00
erwincoumans
6376197e5e Merge pull request #1749 from erwincoumans/master 
remove getLinkState from API, it automatically calculated forwardKine…
 2018-06-13 03:38:36 +00:00
Erwin Coumans
e24da97140 revert GJK change yet again, some degenerate case / regression 2018-06-12 19:52:38 -07:00
erwincoumans
437d66f9b4 Update btOverlappingPairCache.h 
processAllOverlappingPairs : don't call own method, call the default one without dispatchInfo. Thanks James Dolan, fixes Issue #1750
 2018-06-12 19:04:31 -07:00
erwincoumans
97c6937388 Simplify GJK. Still needs double precision for large differences of feature scales. 
Extract faces directly from btConvexHullComputer (in initializePolyhedralFeatures), instead of reconstructing them, thanks to Josh Klint in #1654
PyBullet: use initializePolyhedralFeatures for convex hulls and boxes (to allow SAT)
PyBullet: expose setPhysicsEngineParameter(enableSAT=0 or 1) to enable Separating Axis Test based collision detection for convex vs convex/box and convex versus concave triangles (in a triangle mesh).
 2018-06-12 16:08:46 -07:00
erwincoumans
62485abafe PyBullet: disable deterministic pairs by default 
PyBullet: Only set static when sleeping is enables (todo: figure out issue with determinism)
 2018-06-11 17:32:44 -07:00
Erwin Coumans
ad0c7ecaa2 different way of sorting pairs (using indexing), don't 'clear' all pairs. 2018-06-11 14:42:26 -07:00
erwincoumans
0cec85626f enable more unit tests in PyBullet. 
return Py_None if no user data found, to pass the test.
enable m_deterministicOverlappingPairs by default.
if m_deterministicOverlappingPairs, sort the collision pairs.
 2018-06-09 12:19:29 -07:00
erwincoumans
a450600eb8 revert gjk test 2018-06-01 22:17:46 -07:00
erwincoumans
11d8f069f0 Disable overlapping pair debug variables behind the BT_DEBUG_COLLISION_PAIRS preprocessor definition. 2018-05-29 17:06:35 -07:00
Erwin Coumans
e79ae13cde disable adhoc gjk terminarion heuristics by default 2018-05-26 08:52:52 +10:00
Erwin Coumans
d133c33d73 Use a very large default m_contactStiffness (so that if one object is a bit soft, the stiffness is properly combined) 2018-05-26 08:50:45 +10:00
Erwin Coumans
a9ff5246c9 make gjk a bit more robust, try different initial guess vector if it fails to find a solution (happens for queries with large differences in shape size) 2018-05-25 08:18:12 +10:00
Erwin Coumans
62d58259bc Fix Issue #1623, SphereTriangleDetector for cases with positive contactBreakingThreshold and where sphere was intersecting with multiple edges 
(need to take the closest edge)

Thanks to Andrea Catania for the report and reproduction case!
 2018-05-22 08:36:00 +10:00
Erwin Coumans
552cb5852a PyBullet: add signed distance field support, with example/signedDistanceField.py 
See also data\toys\concave_box.urdf and data\toys\concave_box.cdf

data\toys\concave_box.cdf was generated from concave_box.obj using
//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
//SDF is based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid
 2018-04-16 22:57:43 +02:00
Erwin Coumans
11008d8110 fixes, backwards compatibility 2018-04-12 09:28:30 -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
Daniele Bartolini
e4e82b05b9 Fix warning with -Wmisleading-indentation 2018-03-14 23:19:23 +01:00
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
Stephen Sinclair
58310bd21d Fix calculation of startPt for perturbed object A. 
Fixes #1563.
 2018-02-16 11:57:16 -03:00
Erwin Coumans
508550c5e9 fix premake build for linux, thanks to @consultit 
See also issue #1538
 2018-02-09 18:46:26 -08:00
CuriousRubick
c41d575907 early break if single object sleeping 2018-01-26 10:29:46 -06:00
Alexis Breust
d3f7a68541 Removed warning in btCapsuleShape header 2018-01-25 16:41:25 +01:00
Erwin Coumans
c7314dad31 fix bug, causing bus-error in ExampleBrowser 2018-01-24 05:50:44 -08:00
Erwin Coumans
79051b7611 allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE 
fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
 2018-01-11 21:04:08 -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
Erwin Coumans
e97b751781 further work on urdfEditor.py, fix some serialization issues 2018-01-08 12:25:56 -08:00
Erwin Coumans
4c6df650d4 skip serialization of empty contact manifolds. 2017-12-31 11:28:22 -08:00
Erwin Coumans
f104765c47 added some template to restore (syncMultiBody, syncContactManifolds) for single float and double precision, in 'pybullet.restoreState' 2017-12-31 11:19:29 -08:00
Erwin Coumans
20e00d11d8 further work on saveRestoreState.py 2017-12-30 21:57:42 -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
Joey Liaw
bbc536d887 add const to masses for calculatePrincipalAxisTransform 2017-11-25 13:33:26 -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
d45cc49a90 Merge pull request #1421 from elect86/master 
Update btTriangleIndexVertexArray.h
 2017-11-09 12:09:33 -08:00
Erwin Coumans
344005a8f0 catch invalid mass/inertia instead of division by zero/nan. also, avoid indexing <0 2017-11-07 19:25:14 -08:00
Giuseppe Barbieri
16ed6ec10b Update btTriangleIndexVertexArray.h 2017-11-04 12:06:45 +01:00
Giuseppe Barbieri
9d50a167b0 Update btContinuousConvexCollision.cpp 2017-11-01 23:29:50 +01:00
Giuseppe Barbieri
5436336a38 Update btStaticPlaneShape.cpp 2017-11-01 22:53:39 +01:00
Giuseppe Barbieri
5e017a1e4d Update btContinuousConvexCollision.h 2017-11-01 22:32:48 +01:00
d3x0r
88b49947b5 Composite of fixed code for mingw64(on windows) and general fixes for msvc. 
1) (win32window) don't convert char to wide, use char direct to window.
2) (CMakeLists) Don't link one library as static CPPLIB and no others (mismatched allocations)
3) (macros) Fix Gwen macros for mingw64 on windows build.  (changes are by compiler(msc_ver) not platform)
4) (FileUtils) sprintf_s reference by platform, not compiler (mingw64 support)
5) (b3OpenCLUtils) fix bad define name _MSVC_VER->_MSC_VER
6) (compoundCollision) remove unused variables, simplify operation.
7) (impulseconstraint) remove duplicated code block
 2017-10-28 14:42:38 -07:00
erwincoumans
d05ad4b821 Merge pull request #1394 from davilovick/master 
Optimize rayTest with btScaledBvhTriangleMeshShape
 2017-10-24 00:33:07 +00:00
David Ávila
88758e44cb Add comments to btCollisionWorld 2017-10-23 08:50:24 +02:00
David Ávila Membrives
2cc9ff2176 Optimize rayTest with btScaledBvhTriangleMeshShape 2017-10-19 22:55:18 +02:00