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e6d1a8cf9747283f98af41d9e30014380fa93e9a
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536 Commits

Author SHA1 Message Date
yunfeibai
e6d1a8cf97 Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll. 2017-06-01 15:30:37 -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
5e2599863d trackObject -> parentObject 
trackLinkIndex -> parentLinkIndex
add example debugDrawItems.py
 2017-05-24 09:06:15 -07:00
Erwin Coumans
9f7d7fecd5 more rendering fixes 2017-05-23 23:34:55 -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
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
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
Andrew Hundt
e719da3497 btsoftbody fix #1106, compiler error in App_PhysicsServer_SharedMemory 
BulletSoftBody was not linking to App_PhysicsServer_SharedMemory when USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD was enabled.
 2017-05-20 21:14:00 -04:00
Erwin Coumans
16a8dceb73 fix warning 2017-05-18 08:31:40 -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
9c4a5f9336 update VR camera even if setRealTimeSimulation(0) 
also update w component in setVRCameraState orientation
 2017-05-17 16:29:30 -07:00
Erwin Coumans
ea10c6d335 fix issue when re-connecting to physics server, after removeBody. 2017-05-16 17:19:45 -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
Erwin Coumans
23b8579247 avoid some 'invisible' warning/error (C++/C mix) 2017-05-14 12:00:28 -07:00
Erwin Coumans
987b9541a5 clear unused visual shape data (was de-allocated at the end, not during each 'resetSimulation') 2017-05-14 11:09:32 -07:00
Erwin Coumans
ef7a7f9004 Potential fix for Linux slow performance (usleep(0) takes a lot of time) 
Remove b3RobotSimAPI, use RobotSimulator/b3RobotSimulatorClientAPI.h instead
 2017-05-13 13:37:49 -07:00
Erwin Coumans
0944790577 migrating from b3RobotSimAPI to b3RobotSimulatorClientAPI (step by step) 
allow to run the client/server code in the example browser without this b3RobotSimAPI hack.
 2017-05-13 11:15:20 -07:00
Erwin Coumans
f80838e989 expose the changeVisualShape RGBA color for TinyRenderer, OpenGL3 renderer. 2017-05-13 09:18:36 -07:00
Erwin Coumans
e2d596f4d0 remove visual shape from CPU/TinyRenderer with removeBody 
(thanks to Jeff Bingham for reporting the bug!)
 2017-05-12 20:24:10 -07:00
Oleg Klimov
d755513146 Rewrite collision filtering code 2017-05-11 12:59:11 +03:00
Erwin Coumans
53a82819a0 expose b3LoadMJCFCommandSetFlags / pybullet.pybullet_loadMJCF(fileName,flags=pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS) 2017-05-10 15:01:25 -07:00
yunfeibai
a587d4fec4 Use "change" instead of "reset" for changing dynamics info. 2017-05-09 10:44:33 -07:00
yunfeibai
98654a0cb4 Change dynamic to dynamics in dynamics info. 2017-05-09 10:31:28 -07:00
yunfeibai
5fe4c6bb5b Add API to get dynamic info. 2017-05-07 22:21:38 -07:00
yunfeibai
e363e12ea4 Add default specular when there is not specular map. Add example for adjusting specular coefficient. 2017-05-07 21:09:08 -07:00
Oleg Klimov
1524004aa8 MJCF: support for "axisangle", small code improvements 2017-05-06 14:49:43 +03:00
Erwin Coumans
cb1f5c74ea add missing files to projects 2017-05-04 18:04:32 -07:00
Erwin Coumans
1f64a87abe Improve ChromeTraceUtil logging, allow filename to be specified. 
Expose this ChromeTraceUtil  logging to C-API: start/statelogging and submitProfileTiming
pybullet.submitProfileTiming, and STATE_LOGGING_PROFILE_TIMINGS used in startStateLogging
added example for Python profileTiming.py and C++ b3RobotSimulatorClientAPI::submitProfileTiming
 2017-05-04 17:51:40 -07:00
Erwin Coumans
a8bf53b494 fix error, m_userConstraintUIDGenerator should be m_data->m_userConstraintUIDGenerator 2017-05-04 13:52:02 -07:00
Erwin Coumans
7bf125e460 reset the m_userConstraintUIDGenerator to 1 after 'resetSimulation' 2017-05-04 13:28:09 -07:00
Erwin Coumans
61999ef789 b3ResizablePool: only remove a handle, if it is currently in-use 
also remove user constraints, if removing a body
 2017-05-04 13:14:24 -07:00
Erwin Coumans
fac3d6e3ca fix some compile errors after merge 2017-05-04 11:08:59 -07:00
Erwin Coumans
a7d08ca9d7 Merge remote-tracking branch 'bp/master' 2017-05-04 10:51:42 -07:00
erwincoumans
87a24dba84 Merge pull request #1091 from YunfeiBai/master 
Add APIs to reset object mass, lateral friction coefficient, and to get user constraint id.
 2017-05-04 17:47:33 +00:00
Erwin Coumans
4602fbba34 add missing openvr files to CMakeLists.txt, rename 64bit openvr_api.dll to openvr64pi.dll to avoid name conflicts when using 32 AND 64 bit versions of this dll. 2017-05-04 08:37:46 -07:00
Erwin Coumans
a86f584824 more work towards removeBody for C-API/pybullet, work-in-progress. 2017-05-03 21:53:29 -07:00
yunfeibai
939d6ead32 Add API to reset lateral friction coefficient. 2017-05-03 21:47:53 -07:00
yunfeibai
1841a41f2a Add pybullet example for resetting dynamics. 2017-05-03 21:30:42 -07:00
yunfeibai
c7e9a31898 Add API to get user constraint id. 2017-05-03 18:25:25 -07:00
Erwin Coumans
152e3da3e4 Implementation of virtual void CommonRenderInterface::removeGraphicsInstance(int instanceUid) 
for GLInstancingRenderer (OpenGL3+) and SimpleOpenGL2Renderer (OpenGL2)
Refactored the add/remove object pool in Bullet3Common/b3ResizablePool.h
Added CommonRigidBodyBase::deleteRigidBody, also removing its graphics instance.
 2017-05-03 17:05:05 -07:00
Erwin Coumans
6f7601966d fix issue ,don't iterate over [0..numBodyHandles], would fail once we allow 'removeBody'... 2017-05-03 11:23:01 -07:00
Erwin Coumans
2c8f65a2d0 move body handles in its own template class, for re-use. 2017-05-03 10:49:04 -07:00
Erwin Coumans
1bb133a01f update to OpenVR 1.07 from https://github.com/ValveSoftware/openvr 2017-05-03 08:40:29 -07:00
Erwin Coumans
9fef6c1d66 Add C++ version VRGloveSimulatorMain example, using the serial library. 
First run the App_PhysicsServer_SharedMemory_VR_vs2010.exe to run the VR server,
then run App_VRGloveHandSimulator. You likely need to tune the minV/maxV for each finger (check values using Arduino IDE Serial Monitor)
 2017-05-01 22:35:33 -07:00
yunfeibai
4da2c076a7 Add API to reset mass. 2017-05-01 22:18:54 -07:00
Erwin Coumans
af6bf8ddc8 plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision ! 
See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds:
https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf
Add the --audio flag to enable sound in pybullet/Bullet-C-API
 2017-05-01 11:14:09 -07:00
Erwin Coumans
2a2c18e959 add more tinyaudio preparation, some test wav files, play sound on collision events. Will expose this in the C-API to pick wav files and collision threshold levels etc. Use the premake --audio flag to try it out. The TinyAudio example in the ExampleBrowser works on Mac, Linux and Windows, you can play notes by pressing keys. 2017-04-29 10:32:30 -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
erwincoumans
5b789ed67b reduce max ray hits to 256 2017-04-19 12:06:26 -07:00