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Author SHA1 Message Date
erwincoumans 6214ce5f93 Merge pull request #1431 from kwasimensah/master 
Fix MACROS for when BT_THREADSAFE is defined
 2017-11-15 17:57:22 -08:00
erwincoumans e982efc18a fix in previous commit related to pybullet.c changeUserConstraint / pybullet_internalSetMatrix 2017-11-12 21:53:14 -08:00
erwincoumans 6be7e34dd6 pybullet vr_kuka_setup.py: add a gear joint, to keep the gripper centered, 
vr_kuka_control.py: control all joints, use analogue button to close gripper
remove some debug warnings/prints
pybullet, avoid crash in changeUserConstraint if not passing a [list]
allow some gym environments (pybullet_pendulum and locomotors) to re-use an existing physics client connection.
 2017-11-12 10:36:30 -08:00
erwincoumans 99f9584a2c revert #1419 broken pull request https://github.com/bulletphysics/bullet3/pull/1419 2017-11-11 21:24:49 -08:00
erwincoumans b2dda14948 Delete Seamless_white_marble _texture.jpg 2017-11-09 17:06:57 -08:00
erwincoumans d45cc49a90 Merge pull request #1421 from elect86/master 
Update btTriangleIndexVertexArray.h
 2017-11-09 12:09:33 -08:00
erwincoumans 6b2bd199b8 Merge pull request #1428 from erwincoumans/master 
fix a bug related to joint reaction forces (clearMultiBodyConstraintF…
 2017-11-09 11:34:30 -08:00
erwincoumans b5bf70cb80 fix potential memory leak when manually loading a texture (pybullet.loadTexture), due to URDF/SDF texture caching (manually loading textures are not cached) 2017-11-09 11:09:07 -08:00
erwincoumans d6b3f735b6 fix a bug related to joint reaction forces (clearMultiBodyConstraintForces was clearing forces after they were computed in some cases) 2017-11-09 10:46:13 -08:00
erwincoumans bfc40e9ef2 Merge pull request #1426 from erwincoumans/master 
fix pybullet and bump up version to 1.6.4
 2017-11-07 21:13:05 -08:00
erwincoumans 89ada39a86 Merge pull request #1424 from erwincoumans/master 
expose COV_ENABLE_Y_AXIS_UP, obj2sdf, add option to merge shapes (better performance), tiny_obj_loader support transparency ("d" and "Tr")
 2017-11-07 20:29:15 -08:00
erwincoumans ee2f56875d Merge pull request #1419 from kwasimensah/master 
Update support for buggy android NDK
 2017-11-07 19:55:38 -08:00
erwincoumans 493d7bc94d obj2sdf, add option to merge shapes with same materials, add support for transparent objects 
tiny_obj_loader, load the "d" and "Tr" transparant tag
 2017-11-04 19:17:20 -07:00
erwincoumans 62f4737bb1 Merge pull request #1417 from elect86/master 
Update btContinuousConvexCollision.h
 2017-11-03 08:11:37 -07:00
Erwin Coumans f5493a6d64 add minitaur with single motor test asset 2017-11-02 18:28:46 +00:00
erwincoumans bce657a08a Merge pull request #1407 from erwincoumans/master 
fix for issue 1400
 2017-11-01 18:23:35 -07:00
Erwin Coumans 32312e60a8 Merge remote-tracking branch 'bp/master' 2017-10-29 12:28:00 -07:00
erwincoumans d52fb7510b Merge pull request #1410 from d3x0r/NewCompositeCodeFixes 
Composite fixes for mingw64 and msvc.
 2017-10-29 12:18:57 -07:00
erwincoumans b0cd74de10 Merge pull request #1408 from jietan/pullRequest 
adjust the minitaur_derpy urdf. Seperate the motor controller and the…
 2017-10-28 01:36:52 +00:00
erwincoumans 0f6bef7445 Merge pull request #1409 from jl/jl-nopython 
only probe for python if PYBULLET explicitly specified
 2017-10-28 01:33:33 +00:00
erwincoumans c208505800 Merge pull request #1405 from erwincoumans/master 
vr kitchen upgrade with marble countertop,  premake4 add option --enable_static_vr_plugin etc
 2017-10-25 18:33:27 +00:00
erwincoumans c042c8f9b6 premake pybullet, use enable_static_vr_plugin 
add examples\pybullet\examples\vr_kitchen_setup_vrSyncPython.py (doesn't work well, need C++ sync and some optimizations)
 2017-10-25 10:20:34 -07:00
erwincoumans 6a9300809d premake4 add option --enable_static_vr_plugin to statically link the VR sync plugin 
fix texture caching from previous commit (what happened there?)
 2017-10-25 10:00:45 -07:00
erwincoumans e21aaca836 created a pretty Vatican museum table top, also a marble cube 2017-10-25 08:23:29 -07:00
erwincoumans 7524e37124 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-25 08:15:14 -07:00
erwincoumans ed8de36ffa pybullet: allow to replace existing text, to avoid flickering (remove/add) 
allow texture caching (disable using the disable file caching)
 2017-10-25 08:15:01 -07:00
erwincoumans e9415f5912 kitchen upgrade with marble countertop, wooden floor 2017-10-25 06:51:22 -07:00
erwincoumans c1ba04a580 Merge pull request #1404 from erwincoumans/master 
perform IK in local body-fixed frame ,  add jointFrictionDamping.py example
 2017-10-25 00:52:16 +00:00
Erwin Coumans 7a1dbf2e59 allow IK on a floating base, see video: 
add inverse_kinematics_husky_kuka.py example
fix spacing in inverse_dynamics.py
 2017-10-25 00:32:47 -07:00
Erwin Coumans 41a1362bc5 perform IK in local body-fixed frame 
For now, Jacobian, mass matrix and inverse dynamics return results in local coordinates of the tree.
 2017-10-24 21:06:44 -07:00
erwincoumans d05ad4b821 Merge pull request #1394 from davilovick/master 
Optimize rayTest with btScaledBvhTriangleMeshShape
 2017-10-24 00:33:07 +00:00
erwincoumans 931cee06fc Merge pull request #1388 from ShFil119/master 
Fix jump(without argument)
 2017-10-24 00:31:13 +00:00
erwincoumans 3fab80a50a Merge pull request #1399 from jonathantompson/gear_info 
Gear constraint fixes.
 2017-10-24 00:28:54 +00:00
erwincoumans a50a20ab9f Merge pull request #1383 from AndreaCatania/master 
Customize restitution and friction
 2017-10-23 21:00:18 +00:00
erwincoumans c149840264 Merge pull request #1396 from erwincoumans/master 
API changes in TensorFlow Agents
 2017-10-20 20:46:56 -07:00
Erwin Coumans d18bfec1a9 API changes in TensorFlow Agents 
See https://github.com/tensorflow/agents/commit/164f62032696e06f616268a51d32ca6b84dcbf15#diff-82bda908f176861c20aadc1d017c2527
 2017-10-20 20:32:49 -07:00
erwincoumans 28ea41bfe6 Merge pull request #1393 from YunfeiBai/master 
Expose IK solver options: DLS and SDLS.
 2017-10-20 13:22:56 -07:00
erwincoumans 723c206d0f Merge pull request #1390 from erwincoumans/master 
fix the pybullet.changeDynamics linear/angular damping
 2017-10-18 19:48:35 -07:00
Erwin Coumans c480fab9a0 make btMultiBodyFixedConstraint.cpp linear/angular constraint frame consistent 2017-10-18 19:47:32 -07:00
Erwin Coumans c178c101a8 fix the pybullet.changeDynamics linear/angular damping 
expose pybullet.getConstraintState
 2017-10-18 19:15:35 -07:00
erwincoumans 1393666a83 Merge pull request #1385 from jschueller/patch-2 
Windows case sentitive fs build fix
 2017-10-14 18:04:33 -07:00
erwincoumans 618deae3e4 Merge pull request #1384 from erwincoumans/master 
fix potentially uninitialized data warning
 2017-10-14 11:21:39 -07:00
erwincoumans 8e2ba8b395 Merge pull request #1382 from jschueller/patch-1 
Windows case sentitive fs build fix
 2017-10-14 10:26:18 -07:00
erwincoumans 0a9cf254f2 Merge pull request #1381 from erwincoumans/master 
Fix pybullet.calculateInverseDynamics in the case where #dof != #join…
 2017-10-13 15:19:04 -07:00
erwincoumans cb23e6c102 Fix pybullet.calculateInverseDynamics in the case where #dof != #joints (fixed joints). We still don't handle spherical joints in pybullet (even though the underlying inverse dynamics and forward dynamics support it) 
Also, add a inverse_dynamics.py example, with URDF files. Thanks to Michiel Lutter for the report and repro case!
This fixes issue #1379 https://github.com/bulletphysics/bullet3/issues/1379
 2017-10-13 14:19:25 -07:00
erwincoumans 09769dfc05 Merge pull request #1378 from erwincoumans/master 
fix pybullet.addUserDebugText borders around letters
 2017-10-11 20:33:32 -07:00
erwincoumans 254fd330f8 bump up ThirdPartyLibs/openvr to latest 1.0.10 from https://github.com/ValveSoftware/openvr 
(Windows only, Linux/Mac will follow in next commit)
 2017-10-10 22:13:04 -07:00
erwincoumans 115e38021d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-10 22:11:49 -07:00
erwincoumans de44e4811a fix pybullet.addUserDebugText borders around letters 
bump up pybullet version
In a few pybullet examples, first connect to SHARED_MEMORY, if not connected use GUI mode
 2017-10-10 22:11:32 -07:00
erwincoumans 6b10690373 Merge pull request #1377 from erwincoumans/master 
small fixes
 2017-10-10 11:59:25 -07:00
erwincoumans c155e105a5 unlock thread at exitPhysics 
pybullet: don't crash in inverse kinematic if #dofs don't match due to free base
C-API: don't crash if status/statusHandle = 0
 2017-10-10 11:10:42 -07:00
erwincoumans 7bddc7706d bump up pybullet version 2017-10-10 09:08:31 -07:00
erwincoumans e5d4c73c40 fix very rare threading issue, let main thread compute the UID for user debug items 
add collision model to cartpole.urdf
 2017-10-09 22:40:53 -07:00
erwincoumans 6b4f69f733 Merge remote-tracking branch 'bp/master' 2017-10-09 21:09:23 -07:00
erwincoumans 0be7584eee Merge pull request #1376 from YunfeiBai/master 
Modify inverse kinematics to also support robot model with fixed joint.
 2017-10-09 19:17:24 -07:00
erwincoumans 7c7b9735c4 Merge pull request #1373 from jonathantompson/save_world_fix 
quick update to SAVE_WORLD for JOINT_GEAR.
 2017-10-09 11:38:15 -07:00
erwincoumans 03450a7804 Merge pull request #1374 from erwincoumans/master 
Implement the pybullet/Python equivalent of vr_kuka_setup_vrSyncPlugi…
 2017-10-09 10:56:28 -07:00
erwincoumans 49a2771522 Implement the pybullet/Python equivalent of vr_kuka_setup_vrSyncPlugin.py 
In vr_kuka_setup_vrSyncPython.py, the vr controller is synced in Python, introducing a small lag
Invr_kuka_setup_vrSyncPlugin.py, the vr controller is synced in C++ at the same frequency as the physics time step (240 Hz by default)
 2017-10-09 10:52:25 -07:00
erwincoumans 7d7f5ee7d4 Merge pull request #1371 from jonathantompson/userConstraintResultArgs_fix 
Fixed setting of m_userConstraintResultArgs.
 2017-10-08 22:56:56 -07:00
erwincoumans bbe77d34e9 Merge pull request #1370 from erwincoumans/master 
@erwincoumans erwincoumans allow changeVisualShape (rgbaColor, specularColor and texture) for maximal coordinate body (btRigidBody)
 2017-10-08 19:37:14 -07:00
erwincoumans 434d48bf95 Merge pull request #1368 from elect86/patch-4 
Update btVector3.h
 2017-10-08 18:45:03 -07:00
erwincoumans 64b2164eee Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-08 11:35:06 -07:00
erwincoumans 2f2f070ab5 allow changeVisualShape (rgbaColor, specularColor and texture) for maximal coordinates rigid body (btRigidBody) 
Make the examples\pybullet\examples\createVisualShape.py a bit more interesting
 2017-10-08 11:34:42 -07:00
erwincoumans f230011028 Merge pull request #1367 from erwincoumans/master 
Implement first draft of pybullet.createVisualShape, see Bullet/examples/pybullet/examples/createVisualShape.py
 2017-10-07 19:52:14 -07:00
erwincoumans b2edd81ef6 touch up createVisualShape.py example 2017-10-07 19:00:44 -07:00
erwincoumans 3826dddc83 fix asset paths, createVisualShape.py and duck.obj 2017-10-07 18:52:22 -07:00
erwincoumans cec8da3d85 Implement first draft of pybullet.createVisualShape and add createVisualShape.py example 
add normals to duck.obj for nicer appearance
fix plane100.urdf (so collision shape matches visual shape size)
 2017-10-07 18:50:23 -07:00
erwincoumans fe38e827cd Merge pull request #1363 from elect86/patch-1 
Typo
 2017-10-07 16:33:12 -07:00
erwincoumans 192d778cd9 Merge pull request #1364 from elect86/patch-2 
Typo
 2017-10-07 16:32:40 -07:00
erwincoumans 5161b44c37 Merge pull request #1362 from erwincoumans/master 
reorder initializer
 2017-10-06 17:44:35 -07:00
erwincoumans 48d2048a79 Merge pull request #1361 from erwincoumans/master 
fix some compile issues/bugs
 2017-10-06 17:23:04 -07:00
Erwin Coumans 93810d50e2 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-06 17:19:26 -07:00
Erwin Coumans dbd82f26ba fix TinyRenderer activateShapeTexture 2017-10-06 17:19:14 -07:00
erwincoumans 571d9d3137 Merge pull request #1360 from erwincoumans/master 
improve loading performance of large textures:
 2017-10-06 15:04:06 -07:00
erwincoumans 3c9c88b650 Merge pull request #1359 from jietan/pullRequest 
Pull request
 2017-10-06 14:21:41 -07:00
Erwin Coumans 4d803c104b #include <string.h> // for memcpy 2017-10-06 14:04:43 -07:00
Erwin Coumans 26d32f2aa8 improve loading performance of large textures: 
option to disable tinyrenderer, use p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
also make sure to use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loadURDF, and enable rendering afterwards using p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
reorder 2 loops, making the flip texels twice as fast (cache coherency),
single memcpy of entire texture in tinyrenderer, instead of per-pixel copy (memory layout is the same)
add lots of B3_PROFILE timings, to see where time is going
 2017-10-06 13:46:24 -07:00
erwincoumans b4af0e618a Merge pull request #1358 from erwincoumans/master 
pybullet.getConnectionInfo, store mass matrix in streaming part of shared memory etc.
 2017-10-05 14:00:56 -07:00
erwincoumans b572fe43f9 fix signal handling in ExampleBrowser on linux/mac on termination 
expose all analogue axes from OpenVR (5 controllers, each x,y -> 10 floats) in pybullet.getVREvents(allAnalogAxes=1)
 2017-10-05 12:59:58 -07:00
erwincoumans 822ff077c7 expose some parameters through pybullet.getPhysicsEngineParameters (C-API: b3InitRequestPhysicsParamCommand + b3GetStatusPhysicsSimulationParameters) 2017-10-05 11:43:14 -07:00
erwincoumans 1262adeaec build a named tuple for 'getConnectionInfo' 
remove debug code
 2017-10-05 09:57:17 -07:00
erwincoumans 905d62a5c6 update pybullet quickstart guide 2017-10-05 09:08:01 -07:00
erwincoumans 9303891468 Allow to configure Y=up, default is Z=up, using pybullet.configureDebugVisualizer(COV_ENABLE_Y_AXIS_UP,0/1) 
Implement pybullet.getConnectionInfo, returns [isConnected, connectionMethod], where isConnected=0 or 1
 2017-10-05 09:02:33 -07:00
erwincoumans f467f325f7 store mass matrix in streaming part of shared memory (no support for unlimited mass matrix sizes at the moment) 2017-10-05 08:23:10 -07:00
erwincoumans a2d6a2e822 Merge pull request #1350 from bingjeff/add_mass_matrix 
[pybullet] Add calculateMassMatrix.
 2017-10-05 07:45:30 -07:00
erwincoumans 3821f85019 Merge pull request #1357 from erwincoumans/master 
update unity3d/examples/NewBehaviourScript.cs to load a plane and cub…
 2017-10-04 12:30:19 -07:00
erwincoumans 05b71a521d update unity3d/examples/NewBehaviourScript.cs to load a plane and cube, synchronize the world transform 
added debug rendering from CjLib (with DrawLine from my fork here: https://github.com/erwincoumans/unity-cj-lib)
 2017-10-04 12:21:52 -07:00
erwincoumans 26ed9b9796 Merge pull request #1356 from erwincoumans/master 
improve plugin system,  search for the controller
 2017-10-04 07:13:31 -07:00
erwincoumans 1b03871b4d use explicit size for name, to avoid issue converting/marshalling data to C# 
example to call b3VisualShapeInformation from C# and marshall b3VisualShapeData (after loadURDF)
See examples\pybullet\unity3d\examples\NewBehaviourScript.cs
 2017-10-03 18:01:53 -07:00
erwincoumans 9577875fe9 remove debug printf 2017-10-03 16:16:09 -07:00
Erwin Coumans acbe457d31 add option to statically link a plugin, select the postFix (to avoid naming conflict of multiple plugins functions ('initPlugin' becomes initPlugin_postFix) 
pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents'
 2017-10-03 15:00:52 -07:00
Erwin Coumans 0be9dde36c Merge remote-tracking branch 'bp/master' 2017-10-03 09:09:56 -07:00
erwincoumans 0e893d4c56 Merge pull request #1353 from srajangarg/compound 
add new example for btCompoundShape
 2017-10-03 09:09:51 -07:00
Erwin Coumans cd88614a22 search for the controller, instead of using a hard-coded number. 2017-10-02 12:22:46 -07:00
erwincoumans 6e4707df5f Merge pull request #1349 from piluke/patch-1 
Fix a shadow warning by renaming a parameter in btInfMaskConverter
 2017-09-29 16:20:39 -07:00
erwincoumans d881d15f10 Merge pull request #1340 from ahundt/cmake 
CMakeLists.txt search for any python version by default
 2017-09-29 16:20:04 -07:00
erwincoumans f402d91db0 Merge pull request #1348 from erwincoumans/master 
remote b3GjkPairDetector,  Update pybullet autogenerated C# bindings (for Unity 3D),  update pybullet_quickstartguide.pdf
 2017-09-29 16:16:31 -07:00
erwincoumans a632b6c6a4 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-29 08:01:11 -07:00
erwincoumans c9b76e1760 update pybullet_quickstartguide.pdf 2017-09-29 08:00:35 -07:00
erwincoumans e0dbd25cb7 remove some unneeded/debug BT_PROFILE markers 2017-09-29 07:50:48 -07:00