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Author SHA1 Message Date
Erwin Coumans c1e32e6428 fix potential memory leaks 2017-06-07 19:00:44 -07:00
Erwin Coumans 46f2f3db4e implement 'mimic' joint constraint or 'gear' constraint for btMultiBody, add example in pybullet/examples/mimicJointConstraint.py 2017-06-07 16:22:02 -07:00
Erwin Coumans 60e3887456 enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies. 
See examples\pybullet\examples\mimicJointConstraint.py
 2017-06-07 13:44:34 -07:00
Erwin Coumans d08f3e5f91 expose pybullet non-contact erp, friction erp and frictionAnchor, b3PhysicsParamSetDefaultNonContactERP / b3PhysicsParamSetDefaultFrictionERP / b3ChangeDynamicsInfoSetFrictionAnchor 2017-06-07 09:37:28 -07:00
Erwin Coumans 0c3a3cc466 pybullet.changeDynamicsInfo/b3ChangeDynamicsInfoSetContactStiffnessAndDamping expose contactStiffness/contactDamping 2017-06-07 08:37:42 -07:00
erwincoumans 877e2cf9f9 Merge pull request #1174 from erwincoumans/master 
add MIT racecar and examples/python/examples/racecar.py, fix compile issue/warning
 2017-06-06 09:50:07 -07:00
erwincoumans 7e12034097 improve racecar visuals a little bit with a texture on the wheels 2017-06-06 09:45:06 -07:00
erwincoumans ae00c24a5c add MIT racecar URDF, meshes and racecar.py quick test 2017-06-06 09:23:40 -07:00
erwincoumans 7b56db9f97 fix compile issue/warning 2017-06-06 06:59:41 -07:00
erwincoumans fb6d623d24 Merge pull request #1171 from erwincoumans/master 
revert due to crashes on windows, when simulation speed is increased
 2017-06-05 16:49:22 -07:00
Erwin Coumans 91735acc7c also revert those 2 files 2017-06-05 14:19:28 -07:00
Erwin Coumans b5962ab148 revert due to crashes on windows, when simulation speed is increased 2017-06-05 14:15:51 -07:00
erwincoumans 444f206c7c Merge pull request #849 from benelot/3D-NN-walkers-example 
Improvements to 3DNNWalkers example
 2017-06-05 13:31:07 -07:00
erwincoumans be9384a01b Merge pull request #1168 from lunkhound/pr-fix-thread-index 
fix various multithreading issues with thread indexes
 2017-06-05 13:27:05 -07:00
erwincoumans 0d7232c661 Merge pull request #1170 from erwincoumans/master 
prepare for pybullet 1.1.2
 2017-06-05 09:33:50 -07:00
Erwin Coumans adb938f30f reduce memory usage 2017-06-05 08:01:11 -07:00
Erwin Coumans b6cf8ade07 prepare for pybullet 1.1.2 2017-06-04 22:54:04 -07:00
Erwin Coumans 14a128d122 Merge remote-tracking branch 'bp/master' 2017-06-04 22:53:26 -07:00
Erwin Coumans 351ea171c1 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-06-04 22:53:23 -07:00
erwincoumans 69642805ff Merge pull request #1166 from erwincoumans/master 
btThreadsAreRunning wasn't defined if BT_THREADSAFE was not defined, …
 2017-06-04 22:53:11 -07:00
Erwin Coumans 704269afe1 don't pass second parameter, pybullet func 2017-06-04 22:24:14 -07:00
Erwin Coumans 88c743b5ce Merge remote-tracking branch 'bp/master' 2017-06-04 22:12:42 -07:00
erwincoumans b01386077d Merge pull request #1169 from lunkhound/pr-gui-slider-fix 
example browser: fix 'clamp-to-integer' on GUI-sliders
 2017-06-04 22:08:47 -07:00
Erwin Coumans a7aed37632 work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon) 
pybullet/C-API, expose linear/angular damping
fix some warnings (param name needs to be same in .h and .cpp)
fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread)
fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
 2017-06-04 22:04:16 -07:00
Erwin Coumans b23cb1dd2c pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface 
(still preliminary, not ready for commit yet, see examples\pybullet\examples\createSphereMultiBodies.py)
 2017-06-03 10:57:56 -07:00
Erwin Coumans ff695dd328 Merge remote-tracking branch 'bp/master' 2017-06-03 08:16:59 -07:00
erwincoumans 861766f1d5 Merge pull request #1167 from YunfeiBai/master 
Swap yaw and pitch, and use setEulerZYX in camera computation. Add camera yaw, pitch, distance, and target to getDebugVisualizerCamera. Add rgba color reset for TinyRender.
 2017-06-03 08:16:32 -07:00
Erwin Coumans 1d1c822d52 btThreadsAreRunning wasn't defined if BT_THREADSAFE was not defined, causing compile errors using premake 2017-06-02 16:25:28 -07:00
erwincoumans 518c7ec00e Merge pull request #1144 from lunkhound/pr-threading-refactor 
Bullet 2 threading refactor: moved parallel-for calls into core libs
 2017-06-02 16:18:12 -07:00
erwincoumans 210994575b Merge pull request #1165 from erwincoumans/master 
allow b3Clock to reset to time reference 0, by default reset will set…
 2017-06-02 09:40:22 -07:00
Erwin Coumans 8ef3a60f1c compile fix 2017-06-02 09:01:50 -07:00
Erwin Coumans 5a89b4f385 allow b3Clock to reset to time reference 0, by default reset will set the reference to 'now'. 2017-06-02 08:18:17 -07:00
erwincoumans e47a4d61c1 Merge pull request #1164 from erwincoumans/master 
allow plane collision in SDF, 	fix some warnings
 2017-06-02 08:05:50 -07:00
erwincoumans 3987bdd333 remove pose frame from SDF, 
allow plane collision shape in SDF
load the Roboschool stadium.sdf in humanoid_knee_position_control.py
 2017-06-01 20:13:39 -07:00
erwincoumans 86500004a5 Merge pull request #1160 from erwincoumans/master 
Prepare/allow for non-Bullet2-based physics command processor in pybu…
 2017-06-01 14:06:14 -07:00
Erwin Coumans aa40b8487f bump up SHARED_MEMORY_MAGIC_NUMBER versioning tag, remove humanoid_running_3.py 
bump up pybullet version to 1.1.0
 2017-06-01 13:33:53 -07:00
Erwin Coumans 5c6045b61f turn down effect of default specular a bit 2017-06-01 13:15:58 -07:00
Erwin Coumans d744fe10dc compile fix 2017-06-01 12:51:43 -07:00
Erwin Coumans 87293e835c implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support. 
pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor
Bug fixes in b3ResourcePath::findResourcePath resolution.
add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium
minor fixes to obj2sdf
 2017-06-01 12:32:44 -07:00
Erwin Coumans 439e8c84cf add new .obj files for kuka_iiwa/model.urdf 2017-05-31 21:43:09 -07:00
Erwin Coumans 3157093125 Implemented specular reflective lighting for OpenGL 3.x, everything looks shiny (will add APIs to make it less shiny ;-) 
Remove roof from kitchens/1.sdf, otherwise shadows and shinyness won't work (light is outside the room, bouncing against roof-top)
Make kuka_iiwa/model.urdf more smooth, use .obj for per-vertex normals (using Blender, import STL, export OBJ, enable triangles, normals and Z-UP, Y forward)
 2017-05-31 20:32:45 -07:00
erwincoumans 83f910711a Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API 
!!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed
Bump up pybullet to version 1.0.9
 2017-05-30 19:54:55 -07:00
erwincoumans 130cd74ecb Merge pull request #1158 from erwincoumans/master 
add pybullet.multiplyTransforms and pybullet.invertTransform
 2017-05-30 10:59:55 -07:00
erwincoumans 978dd5844d due to b3Assert, GwenOpenGLTest/premake4.lua depends on Bullet3Common 2017-05-29 22:09:07 -07:00
erwincoumans 4e03c36fa6 add pybullet.multiplyTransforms and pybullet.invertTransform 
use btAssert instead of assert (glGetError is really slow)
shift default light-position a little bit, to make faces different color
 2017-05-29 21:55:58 -07:00
erwincoumans 356d4104f0 Merge pull request #1155 from erwincoumans/master 
fix bodyIndex -> bodyUniqueId in pybullet.
 2017-05-28 17:30:43 -07:00
erwincoumans 5436b8f048 print better error warning, in case the physics client/server version mismatch. 
fix in b3HashString
remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!)
move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder.
PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
 2017-05-28 17:05:18 -07:00
erwincoumans c36792c950 fix bodyIndex -> bodyUniqueId in pybullet. 2017-05-28 13:30:20 -07:00
erwincoumans f9c53b39a2 fix pybullet build on some MSVC versions 2017-05-28 09:48:12 -07:00
erwincoumans 225c603a52 Merge pull request #1152 from erwincoumans/master 
expose pybullet changeDynamics(restitution=..., spinningFriction=..., rollingFriction=…
 2017-05-27 09:58:47 -07:00
Erwin Coumans b645963879 expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...) 
Bullet C-API b3ChangeDynamicsInfoSetSpinningFriction/RollingFriction/Resitution
b3PhysicsParamSetRestitutionVelocityThreshold, / pybullet.setPhysicsEngineParameter restitutionVelocityThreshold:
if the velocity is below this threshhold, the restitution is zero (this prevents energy buildup at near-resting state)
pybullet restitution.py example.
 2017-05-26 18:14:38 -07:00
erwincoumans 7d2c609bcc Merge pull request #1151 from erwincoumans/master 
also discard pixels in front of nearplane
 2017-05-26 10:12:36 -07:00
Erwin Coumans 723b356667 also discard pixels in front of nearplane 2017-05-25 19:55:55 -07:00
erwincoumans f6643b4e5f Merge pull request #1150 from erwincoumans/master 
TinyRenderer: discard pixels beyond farplane
 2017-05-25 17:52:39 -07:00
Erwin Coumans 2b9c67b07c TinyRenderer: discard pixels beyond farplane 
pybullet: printf build date/time
 2017-05-25 17:25:14 -07:00
erwincoumans dcdb3d40ba Merge pull request #1149 from erwincoumans/master 
use a fixed joint instead of crashing for unsupported joint types (pl…
 2017-05-25 14:57:45 -07:00
Erwin Coumans e023c012b4 TinyRendererVisualShapeConverter set near/far for its own camera. 2017-05-25 13:39:36 -07:00
Erwin Coumans e6180ef98a use a fixed joint instead of crashing for unsupported joint types (planar, floating joint) 2017-05-25 13:02:20 -07:00
erwincoumans 4388a6ea02 Merge pull request #1147 from erwincoumans/master 
minor fixes, increase max visual shape path length from 128 to 1024 (bump up version of C-API/pybullet, since it breaks binary compatibiltiy)
 2017-05-25 11:24:50 -07:00
Erwin Coumans f090752cbb bump up VISUAL_SHAPE_MAX_PATH_LEN from 128 to 1024, some google3 directories are loooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooong :-) 2017-05-25 10:56:01 -07:00
Erwin Coumans 143a8dd239 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-24 19:57:53 -07:00
Erwin Coumans 40db4998b9 Merge remote-tracking branch 'bp/master' 2017-05-24 19:57:28 -07:00
erwincoumans 5103f3b72d Merge pull request #1146 from jietan/pullRequest 
Pull request to update to the latest minitaur agent and env
 2017-05-24 16:26:17 -07:00
erwincoumans 044ac8d10b Merge pull request #1145 from erwincoumans/master 
Improve debug text/line rendering, can be use to draw frames and text  in local coordinate of an object / link.
 2017-05-24 14:09:17 -07:00
Erwin Coumans 84d09cc18f Split CommonGfxVertex3D into two different ones, GfxVertexFormat0 and GfxVertexFormat1 
Rewrite  GLInstancingRenderer::drawTexturedTriangleMesh
 2017-05-24 13:05:16 -07:00
Erwin Coumans 344bb3f350 fix premake4.lua build file 2017-05-24 10:29:22 -07:00
Erwin Coumans 5e2599863d trackObject -> parentObject 
trackLinkIndex -> parentLinkIndex
add example debugDrawItems.py
 2017-05-24 09:06:15 -07:00
Erwin Coumans 0f63e7a2f6 Merge remote-tracking branch 'bp/master' 2017-05-23 22:06:07 -07:00
Erwin Coumans 7bb802a91b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-23 22:05:38 -07:00
Erwin Coumans db008ab3c2 Improve debug text/line rendering, can be use to draw frames and text in local coordinate of an object / link. 
example:
kuka = p.loadURDF("kuka_iiwa/model.urdf")
p.getNumJoints(kuka)
pybullet.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],trackObjectUniqueId=2,trackLinkIndex=6)
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],trackObjectUniqueId=2,trackLinkIndex=6)
Also allow to render text using a given orientation (instead of pointing to the camera), example:
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textOrientation=[0,0,0,1], trackObjectUniqueId=2,trackLinkIndex=6)
Add drawTexturedTriangleMesh, for drawing 3d text.
Expose readSingleInstanceTransformToCPU, to extract position/orientation from graphics index.
updateTexture: allow to not flip texels around up axis
 2017-05-23 22:05:26 -07:00
erwincoumans 4f3d60f4d0 Merge pull request #1142 from jietan/pullRequest 
add back sonnet dependency. If sonnet is not installed, fall back to …
 2017-05-23 10:05:36 -07:00
erwincoumans f63ca87049 Merge pull request #1143 from YunfeiBai/master 
Add kuka grasping block playback.
 2017-05-23 10:05:15 -07:00
erwincoumans 2f3844e5db Merge pull request #1131 from ahundt/cmake 
cmake python config bugs fixed
 2017-05-22 20:33:45 -07:00
Erwin Coumans 19933a9454 Merge remote-tracking branch 'bp/master' 2017-05-21 12:16:34 -07:00
Erwin Coumans 1ce894b3e9 add main_imgui.cpp 2017-05-21 12:16:27 -07:00
Erwin Coumans aa2787520b examples\pybullet\examples\humanoid_knee_position_control.py : allow both knees to be actuated against limit 2017-05-21 11:35:06 -07:00
erwincoumans 148716d0ff Merge pull request #1135 from erwincoumans/master 
disable Grasp Soft Body/SoftBody coupling demo unless USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD is defined, fixed related hang in experimental 'loadBunny' command
 2017-05-21 11:00:43 -07:00
Erwin Coumans fd40ba424b test for knee joint limits under position control 2017-05-21 11:00:15 -07:00
erwincoumans 3c4fd2ce8c Merge pull request #1132 from ahundt/btsoftbody 
btsoftbody fix #1106, compiler error in App_PhysicsServer_SharedMemory
 2017-05-21 06:59:40 -07:00
erwincoumans e0865ee8ed Merge pull request #1133 from lunkhound/pr-remove-dcast 
fix a crash in example browser when enabling multi-threading
 2017-05-21 06:56:14 -07:00
Erwin Coumans 4dcf2b82b6 bump up pybullet to version 1.0.7 2017-05-21 06:53:06 -07:00
Erwin Coumans b19c209dbc The softbody/bunny test is very experimental and shouldn't be enabled in the example browser, unless USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD is defined. I fixed a few bugs that cause the hang. 2017-05-21 06:50:53 -07:00
erwincoumans 4ba4c11734 Merge pull request #1129 from jietan/pullRequest 
remove sonnet dependency
 2017-05-18 16:37:49 -07:00
Erwin Coumans f5d7aac5cc bump up pybullet to 1.0.6, prepare to tag Bullet 2.87 release 2017-05-17 21:21:33 -07:00
erwincoumans d40787f3fd Merge pull request #1128 from erwincoumans/master 
.obj file caching, update VR camera even when setRealTimeSimulation(0) + position-only tracking
 2017-05-17 21:19:01 -07:00
Erwin Coumans a2a83975f2 update pybullet quickstart guide pdf from https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# 2017-05-17 19:42:28 -07:00
Erwin Coumans c2fdffba35 pybullet.enableJointForceTorqueSensor kwlist was not properly terminated 2017-05-17 19:37:51 -07:00
Erwin Coumans 19295f2859 enable file caching, currently only for Wavefront .obj files. You can disable file caching using 
pybullet.setPhysicsEngineParameter(enableFileCaching=0)
Allow VR camera tracking only using position tracking, no orientation tracking (use
pybullet.setVRCamera([posX,posY,posZ],trackObjectFlag=0 or pybullet.VR_CAMERA_TRACK_OBJECT_ORIENTATION)
 2017-05-17 19:29:12 -07:00
Erwin Coumans 972660f825 Only initialized values if provided (and don't initialize default if not provided!) 
fixes getCameraImage(width,height) crash
 2017-05-17 17:25:34 -07:00
Erwin Coumans 9c4a5f9336 update VR camera even if setRealTimeSimulation(0) 
also update w component in setVRCameraState orientation
 2017-05-17 16:29:30 -07:00
erwincoumans 40f923647a Merge pull request #1127 from erwincoumans/master 
fix issue when re-connecting to physics server, after removeBody.
 2017-05-16 17:40:40 -07:00
Erwin Coumans ea10c6d335 fix issue when re-connecting to physics server, after removeBody. 2017-05-16 17:19:45 -07:00
erwincoumans ba22f4a4dc Merge pull request #1126 from erwincoumans/master 
allow to enable/disable VR picking and VR teleport. Disabling VR pick…
 2017-05-16 13:55:47 -07:00
Erwin Coumans 433d11d8cf Add a btIDEbugDraw::clearLines, helps multi-threaded rendering of lines (while updating those lines in a dynamics world in a different thread) 
Expose COV_ENABLE_VR_RENDER_CONTROLLERS, to enable/disable rendering of controllers (and some frames) in VR
Expose COV_ENABLE_RENDERING to enable/disable rendering.
Fix some multi-threading issues (potential crashes), related to debug drawing/rendering in one thread, while changing the dynamics world/removing/resetSimulation in a different thread.
 2017-05-16 12:19:03 -07:00
Erwin Coumans 4dea68e43e allow to enable/disable VR picking and VR teleport. Disabling VR picking will also disable the rendering of the VR controller frames. 2017-05-15 11:39:39 -07:00
erwincoumans 945b9b1b1d Merge pull request #1125 from erwincoumans/master 
GLInstancingRenderer: don't crash but assert/return -1 when exceeding vertex capacity
 2017-05-15 09:37:28 -07:00
Erwin Coumans a554c250a7 GLInstancingRenderer: don't crash but assert/return -1, if the # vertices exceeds the maximum capacity. 2017-05-15 09:02:49 -07:00
Erwin Coumans dfe618bd62 initialize UrdfGeometry members 2017-05-15 07:59:07 -07:00
erwincoumans cd78379899 Merge pull request #1124 from erwincoumans/master 
initialize alpha component of color
 2017-05-14 21:34:56 -07:00
Erwin Coumans 11fa56513b initialize alpha component of color 2017-05-14 21:14:56 -07:00