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Author SHA1 Message Date
Erwin Coumans 771b197131 add option to calibrate individual fingers for the vr glove 2017-04-25 09:40:18 -07:00
Erwin Coumans 552c85617f fix compile issue 2017-04-23 17:12:40 -07:00
Erwin Coumans 4759e5a590 tinyrenderer: disable triangle backface culling (doesn't work well, cull triangles that should be visible) 
GLInstancingRenderer: allow to set the light position
 2017-04-23 07:35:13 -07:00
Erwin Coumans e8c1602232 add vrhand for vive tracker 
tweak 'saveWorld' feature a bit (mjcf, gui fallback if shared memory server is not available)
 2017-04-21 10:28:20 -07:00
Erwin Coumans 87b0838624 Merge remote-tracking branch 'bp/master' 2017-04-20 13:10:55 -07:00
erwincoumans 5b789ed67b reduce max ray hits to 256 2017-04-19 12:06:26 -07:00
erwincoumans 73b4c0092c Merge pull request #1076 from YunfeiBai/master 
Modify the link index when computing Jacobian.
 2017-04-18 01:03:33 +00:00
erwincoumans ee753eef6f Merge pull request #1073 from devnexen/build_fix_bsd 
build fix for BSD systems
 2017-04-17 18:19:10 +00:00
erwincoumans 381eace157 Merge pull request #1072 from erwincoumans/master 
TinyRenderer, apply backface culling
 2017-04-17 18:15:28 +00:00
Erwin Coumans eef76af663 create basic audio, towards sound sensors etc. 2017-04-14 12:22:38 -07:00
Erwin Coumans fec96ab17f pybullet setup.py: enable numpy if found 2017-04-13 12:46:16 -07:00
Erwin Coumans c3cc53d5aa TinyRenderer, apply backface culling 2017-04-13 11:06:38 -07:00
erwincoumans 874d02d7aa Merge pull request #1070 from erwincoumans/master 
re-create debug drawer after 'resetSimulation', also avoid memory lea…
 2017-04-12 22:40:06 +00:00
Erwin Coumans 5158c1ae98 add python dumpLog.py utility to view log files created using 'startStateLogging' 
don't enable <CTRL> for hotkeys yet
add some more profile markers
log objectId and linkIndex as signed int ('i') and not unsigned int 'I'
fix issue in startStateLogging: number of parameters was wrong
 2017-04-12 15:02:47 -07:00
Erwin Coumans f73b54e4ab testing ImGUI 2017-04-11 20:16:49 -07:00
Erwin Coumans a43f3b026a testing ImGui, nice and simple! 
https://github.com/ocornut/imgui
This would replace GWEN.
 2017-04-11 17:10:25 -07:00
Erwin Coumans 80e87d5ccb re-create debug drawer after 'resetSimulation', also avoid memory leak after doing so. 
this fixes wireframe.
Also use <CTRL>+hotkey, to avoid conflicts with user-specified keyboard functions.
 2017-04-11 16:03:07 -07:00
erwincoumans 92a3444076 Update CMakeLists.txt 
remove 'experimental' from Python bindings, since it has been in use for quite a while without issues.
 2017-04-11 13:07:29 -07:00
erwincoumans d201c422da Merge pull request #1069 from erwincoumans/master 
fix typo
 2017-04-11 19:24:48 +00:00
erwincoumans f17ba3bd8e Merge pull request #1068 from erwincoumans/master 
pybullet: add support for Anaconda install on Mac OSX, for pip instal…
 2017-04-11 19:19:13 +00:00
erwincoumans 93bef00fba Merge pull request #1067 from erwincoumans/master 
implement pybullet.getDebugVisualizerCamera, width, height, providing…
 2017-04-10 19:39:06 +00:00
Erwin Coumans bdf366b045 implement pybullet.getDebugVisualizerCamera, width, height, providing viewmatrix, projection matrix 2017-04-10 11:03:41 -07:00
erwincoumans 6237a73bfc Merge pull request #1065 from erwincoumans/master 
apply the deviceTypeFilter also to VR state logging.
 2017-04-09 03:09:56 +00:00
Erwin Coumans 82b6bc8770 apply the deviceTypeFilter also to VR state logging. 2017-04-08 11:48:12 -07:00
erwincoumans 39f9ff5490 Merge pull request #1064 from erwincoumans/master 
also report VR events for HMD and generic tracked devices.
 2017-04-08 17:50:44 +00:00
Erwin Coumans 8b2491f84f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-04-07 22:54:04 -07:00
Erwin Coumans 440d445a02 also report VR events for HMD and generic tracked devices. Also expose those VR events to pybullet: expose a deviceTypeFilter, that defaults to VR_DEVICE_CONTROLLER 2017-04-07 22:53:36 -07:00
erwincoumans e1874c6b54 Update MacOpenGLWindow.cpp 2017-04-06 22:41:04 -07:00
erwincoumans c8cdedcd75 Merge pull request #1063 from erwincoumans/master 
TinyRenderer: implement triangle clipping against near-plane, uv repeat
 2017-04-07 04:44:28 +00:00
Erwin Coumans 82b576a390 fixed a bug that prevented kitchens/1.sdf to render properly (local scaling was double applied) 
disable some left-over clipping that was moved to another part of the code
 2017-04-06 21:13:23 -07:00
Erwin Coumans d6125ecb8c fix in tinyrenderer clipping logic 2017-04-06 17:43:40 -07:00
Erwin Coumans deb95c758b TinyRenderer: implement triangle clipping against near-plane 
TinyRenderer: implement texture UV-repeat by default (instead of clamp(0,1))
 2017-04-06 14:31:34 -07:00
erwincoumans 0f2771b1d1 Merge pull request #1059 from jietan/pullRequest 
make the URDF and the minitaur.py consistent with the real robot
 2017-04-06 04:57:26 +00:00
erwincoumans 2e13531493 Merge pull request #1061 from erwincoumans/master 
Implement rayTestBatch. At the moment, it is still testing individual…
 2017-04-06 04:56:49 +00:00
Erwin Coumans 6cbb00fd6b Implement rayTestBatch. At the moment, it is still testing individual rays on the physics server. We can enable multi-threaded version later. At least the python + shared-memory IPC overhead will be much lower. 2017-04-05 15:21:26 -07:00
erwincoumans 8658682d2a Merge pull request #1060 from erwincoumans/master 
improvements in MJCF importer: cylinder support, fix capsule shape inertia (for fromto …
 2017-04-05 20:26:08 +00:00
Erwin Coumans e32debdca4 improvements in MJCF importer: fix capsule shape inertia (for fromto definition) 
add cylinder support
don't crash when no "quat" is provided
inertia fix in btMinkowskiSumShape (based on AABB)
 2017-04-05 12:22:38 -07:00
erwincoumans ac91896025 Merge pull request #1054 from erwincoumans/master 
pybullet setup.py / pip support for Windows, Linux and Mac! just run 'pip install pybullet' and wait until all compiled (like numpy, it is mainly source, except for a few wheels Mac 2.7 and Win32 3.5). Expose URDF_USE_SELF_COLLISION flag.
 2017-04-04 23:36:32 +00:00
erwincoumans 814e901a20 Merge pull request #1053 from YunfeiBai/master 
Add logging for contact information.
 2017-04-04 23:34:33 +00:00
Erwin Coumans b095e1d917 expose pybullet.URDF_USE_SELF_COLLISION flag, experimental (likely doesn't work well for many URDF files) 2017-04-04 12:47:34 -07:00
erwincoumans 0c6b0d52c6 Merge pull request #1050 from erwincoumans/master 
remove 20 second time limit for ffmpeg recording
 2017-03-30 14:57:47 -07:00
Erwin Coumans 473196a492 remove vld.h 2017-03-30 13:56:37 -07:00
Erwin Coumans e5290560d7 avoid checking beyond string length in b3CommandLineArgs.h 2017-03-30 13:54:32 -07:00
Erwin Coumans a7c67b4d9d avoid memory leaks, even if a the python interpreter exits without calling 'disconnect' on all physics servers 
(register a Py_AtExit function that cleans all up), to avoid memory leaks
 2017-03-30 13:50:02 -07:00
Erwin Coumans cebed74454 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-03-30 13:30:52 -07:00
Erwin Coumans b1cbc3d4b0 fix a potential memory leak for URDF files with multiple materials using the same name 2017-03-30 13:30:38 -07:00
erwincoumans 61012ccd64 Merge pull request #1049 from erwincoumans/master 
expose width/height as ExampleBrowser options etc.
 2017-03-30 11:30:26 -07:00
Erwin Coumans 9d05b46de2 expose width/height as ExampleBrowser options. 
suppress lack of 'site' support message in MJCF importer
suppress lack of 'plane' visual support in urdf/sdf import
getBodyName default to "" to avoid breaking cloudsim
expose bodyName when requesting body info (sdf/mjcf import)
pass optional "options" string to pybullet.connect method. this can be used for --opengl2 flag in GUI mode (or other flags)
 2017-03-30 11:01:33 -07:00
erwincoumans d51123be3a Merge pull request #1036 from nicolaichuk/master 
Some improvements for better support swig generator.
 2017-03-30 08:00:48 -07:00
erwincoumans dae13eee7f Merge pull request #1048 from erwincoumans/master 
expose linkIndexA/B as filter option in pybullet.getContactPoints
 2017-03-29 18:19:23 -07:00
erwincoumans c4cd6d2fa6 Merge pull request #1038 from YunfeiBai/master 
Load body name from URDF and add API to get the body name.
 2017-03-29 18:19:03 -07:00
Erwin Coumans 711431db5c first draft of VR controller state logging 2017-03-29 16:29:34 -07:00
erwincoumans 30c1923b00 Merge pull request #1047 from erwincoumans/master 
move pybullet examples to Bullet/examples/pybullet/examples
 2017-03-29 11:40:01 -07:00
erwincoumans 0750d502a8 Merge pull request #1041 from olegklimov/master 
Random improvements (MJCF, error messages, gravity)
 2017-03-29 09:12:48 -07:00
erwincoumans 993e98e37a Merge pull request #1046 from erwincoumans/master 
enable --opengl2 fallback for example browser in 'physics server' mode too.
 2017-03-28 08:20:46 -07:00
Erwin Coumans fffa17dd35 little tuning for rendering 2017-03-28 08:20:10 -07:00
Erwin Coumans 46c5b00964 report actual number of instances (enable sync transforms for physics server) 2017-03-27 23:09:24 -07:00
Erwin Coumans b9642e8e68 enable base OpenGL2 rendering as fallback for more demos including physics server (use --opengl2 flag in Example Browser), no shadows yet. 2017-03-27 21:42:37 -07:00
Erwin Coumans fd2c0f58bc Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-03-27 17:25:40 -07:00
erwincoumans c1e42daa0f Merge pull request #1045 from erwincoumans/master 
revert to m_jointFriction (from m_jointFriction1)
 2017-03-27 10:17:44 -07:00
erwincoumans de6fafd726 Merge pull request #1043 from erwincoumans/master 
enable USE_MSVC_SSE2 for MSVC by default, revert m_linearDamping to previous (0.04f)
 2017-03-27 08:30:39 -07:00
Erwin Coumans 4911916937 Expose 'flags' option for loadURDF, to allow customization of the URDF loading process while maintaining backward compatibility. 
For example: URDF_USE_INERTIA_FROM_FILE flag. By default, URDF2Bullet will re-compute the inertia tensor based on mass and volume, because most URDF files have bogus Inertia values.
 2017-03-27 08:30:20 -07:00
Erwin Coumans d78909aef9 update pybullet quickstart guide pdf from 
https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.6c3uot59qod4
 2017-03-27 07:38:06 -07:00
Erwin Coumans f4be2c1ee0 pass the joint parameters for all joints 2017-03-26 20:05:48 -07:00
Erwin Coumans 7462d55128 remove non-public files 2017-03-26 16:29:06 -07:00
Erwin Coumans 7503418c72 Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. 
Add several MSVC optimization flags to cmake.
Bump up VERSION because serialization format changed
Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo.

pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity
fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
 2017-03-26 13:06:46 -07:00
Erwin Coumans ed6530264f enable USE_MSVC_SSE2 for MSVC by default, AVX for MSVX disabled by default. 2017-03-25 12:03:40 -07:00
erwincoumans f27eb19633 revert m_linearDamping to previous (0.04f) 
it broke many tests with empirical check values
 2017-03-23 19:59:53 -07:00
erwincoumans 1eb4e66d97 Merge pull request #1039 from erwincoumans/master 
remove use of snprint,, better matching pr2_gripper collision model for fingers
 2017-03-23 18:21:42 -07:00
Erwin Coumans ee0e3ba271 Remove RobotLogging from CMakeLists.txt 
Avoid crashing if threadIndex exceeds BT_QUICKPROF_MAX_THREAD_COUNT (64)
 2017-03-23 18:00:00 -07:00
Erwin Coumans 21d1827c9f revert previous cmake copy->symlink (doesn't work on Windows) 
fix timing issues at small timestep, disable default linear damping for btMultiBody
 2017-03-23 17:30:59 -07:00
erwincoumans 1aff189fdd Merge pull request #1035 from erwincoumans/master 
add missing define in pybullet to start/stop MP4 video
 2017-03-23 10:59:51 -07:00
Erwin Coumans 0a654c2d58 expose optional targetVelocity to pybullet.resetJointState 
add C-API: b3CreatePoseCommandSetJointVelocities and b3CreatePoseCommandSetJointVelocity
 2017-03-23 10:29:16 -07:00
Erwin Coumans e381e84319 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-03-21 20:44:16 -07:00
Erwin Coumans 15e6ee1a04 add missing define in pybullet to start/stop MP4 video, pybullet.startStateLogging(STATE_LOGGING_VIDEO_MP4,"filename.mp4") 2017-03-21 20:43:23 -07:00
erwincoumans 59fcf7ca24 Merge pull request #1034 from erwincoumans/master 
:%s/STL/stl/g for Bullet/data/MPL/MPL.xml
 2017-03-21 18:13:11 -07:00
erwincoumans 049d9a5ca6 Update OpenGLExampleBrowser.cpp 
revert original width/height to 1024x768
 2017-03-21 17:41:11 -07:00
erwincoumans a30b887595 Merge pull request #1025 from olegklimov/master 
URDF loader improvement 2
 2017-03-21 17:12:22 -07:00
erwincoumans 2b698688f4 Merge pull request #1033 from erwincoumans/master 
update pybullet quickstart guide to latest from
 2017-03-21 17:08:09 -07:00
erwincoumans b8b3633008 Merge pull request #1032 from erwincoumans/master 
minor fix in friction anchors for btMultiBody
 2017-03-21 11:49:42 -07:00
erwincoumans 8a1563428a Merge pull request #1031 from erwincoumans/master 
fix issue introduced in previous commit, related to
 2017-03-20 21:08:33 -07:00
erwincoumans cb08d077f0 Merge pull request #1030 from erwincoumans/master 
friction anchors, arm64 premake
 2017-03-20 11:48:44 -07:00
erwincoumans 3532762cdc Merge pull request #1029 from YunfeiBai/master 
Minor modifications related to gripper.
 2017-03-20 11:03:31 -07:00
Erwin Coumans 0b017b0f53 fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp) 
implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable.
PhysicsServer: properly restore old activation state after releasing picked object
btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
 2017-03-20 10:58:07 -07:00
erwincoumans 86bec45247 Merge pull request #1024 from erwincoumans/master 
expose video capture as logging command
 2017-03-16 11:02:58 -07:00
erwincoumans a89d3cfb95 Merge pull request #1019 from erikogenvik/kinematic_controller_initialization 
Kinematic controller initialization
 2017-03-16 10:54:41 -07:00
Erwin Coumans 3d339af98d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-03-16 09:13:55 -07:00
Erwin Coumans 59d16b2c42 expose video capture as logging command in b3RobotSimulatorClientAPI (C++) and pybullet (use STATE_LOGGING_VIDEO_MP4) 2017-03-16 09:13:33 -07:00
erwincoumans 8ce4444638 Merge pull request #1023 from erwincoumans/master 
update minitaur.py and RobotSimulator to use data/quadruped/minitaur.urdf
 2017-03-15 21:43:56 -07:00
Erwin Coumans b7b46b12d3 update RobotSimulator/MinitaurSetup to use data/quadruped/minitaur.urdf 
add b3RobotSimulatorClientAPI::getBaseVelocity and resetBaseVelocity
add b3Quaternion::getEulerZYX
 2017-03-15 17:09:17 -07:00
Erwin Coumans 4db6fa9e29 update minitaur.py to use minitaur.urdf (instead of quadruped.urdf), also sort the legs in the same order as real hardware 
added test urdf files for minitaur with all fixed joints, or fixed knees.
added some stiffness/damping to minitaur legs (testing)
tiny_obj_loader, don't crash on invalid texture coordinates
btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
 2017-03-15 15:38:50 -07:00
Erwin Coumans a613911c84 Merge remote-tracking branch 'bp/master' 2017-03-15 11:05:16 -07:00
erwincoumans 6f171f90dc Merge pull request #1015 from JulianYG/master 
Fixed shaking issue, and hopefully the offset should be gone.
 2017-03-15 09:15:00 -07:00
erwincoumans f67299de8e Merge pull request #1020 from jietan/pullRequest 
add cartpole urdf
 2017-03-14 17:06:10 -07:00
erwincoumans e46a0a2e9c Merge pull request #1018 from erwincoumans/master 
fix unreachable code
 2017-03-14 13:14:28 -07:00
erwincoumans 3b7c4d0947 Merge pull request #1017 from erwincoumans/master 
also allow absolute path in asset files (.obj, .stl, .dae etc)
 2017-03-14 10:41:09 -07:00
Erwin Coumans 3d2cb1cabf also allow absolute path in asset files (.obj, .stl, .dae etc) 2017-03-14 10:40:27 -07:00
erwincoumans 25b1293ead Merge pull request #1016 from erwincoumans/master 
Apply temporary stack-memory optimization, thanks to Jim Tilander
 2017-03-13 23:18:25 -07:00
Erwin Coumans bbefc8fe7e Apply temporary stack-memory optimization, thanks to Jim Tillander 
(old pull request 316 https://github.com/bulletphysics/bullet3/pull/316)
You can disable this in the build system, by adding preprocessor define 'BT_DISABLE_STACK_TEMP_MEMORY'
 2017-03-13 22:27:37 -07:00
erwincoumans 11975ec60b Merge pull request #259 from AlexanderPolyakov/master 
Fix for use of uninitialized variables.
 2017-03-13 21:57:03 -07:00