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Author SHA1 Message Date
erwincoumans e9415f5912 kitchen upgrade with marble countertop, wooden floor 2017-10-25 06:51:22 -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
erwincoumans 17115f38c2 add some timings, small fix in btSoftBody related to btMultiBody interaction 2017-09-29 07:50:04 -07:00
erwincoumans dd2c7af2b2 Update pybullet autogenerated C# bindings, with very basic example script that runs inside Unity 3D 2017-09-29 07:47:31 -07:00
erwincoumans a6ca5632b2 Merge pull request #1346 from erwincoumans/master 
revert to original agents train/visualize scripts (from github)
 2017-09-28 11:36:15 -07:00
erwincoumans b44a67b530 Merge pull request #1345 from bingjeff/fix_bugs_in_jacobian 
[pybullet] Fix bugs in calculateJacobian.
 2017-09-27 23:25:14 -07:00
erwincoumans bab3b20e65 Merge pull request #1344 from YunfeiBai/master 
Fix some IK related issues.
 2017-09-27 17:40:16 -07:00
erwincoumans 8e08a9ff16 Merge pull request #1343 from erwincoumans/master 
fix typos in agents config
 2017-09-27 13:53:50 -07:00
erwincoumans ca968916a1 Merge pull request #1342 from erwincoumans/master 
add minitaur environment randomizer, enabled by default for Minitaur gym environment
 2017-09-27 11:03:54 -07:00
erwincoumans 6ae7b859ae Merge pull request #1341 from erwincoumans/master 
improved custom C++ vrSyncPlugin, for pybullet/VR to sync controller at the same frequency as the physics loop (240Hz)
 2017-09-26 22:56:47 -07:00
erwincoumans 12f28c5f76 fix compile issue on MSVC 2017-09-26 19:58:24 -07:00
erwincoumans 6644157815 Merge remote-tracking branch 'bp/master' 2017-09-26 19:55:36 -07:00
erwincoumans e72ebc95de Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-26 19:54:57 -07:00
erwincoumans 8a265b8af2 expose gear erp/relative position target to C-API/pybullet 
finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
 2017-09-26 19:54:36 -07:00
erwincoumans 44fc48314e Merge pull request #1339 from erwincoumans/master 
add experimental vrSyncPlugin, that syncs the position/orientation of…
 2017-09-26 11:42:21 -07:00
Erwin Coumans b03e5dec5f return -1 for debugDrawItems in DIRECT mode, instead of failing the API 2017-09-26 11:40:38 -07:00
erwincoumans b1f8eb74a4 bump up shared memory version number 
add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
 2017-09-26 10:05:17 -07:00
erwincoumans 270a036cd7 add experimental vrSyncPlugin, that syncs the position/orientation of a vr controller to a gripper (through a constraint) 
This is in C++ and the sync runs at the simulation speed (240 Hz), so there is less lag than in Python.
Modify the pybullet/examples/vr_kuka_setup.py at the end to do this:

plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_vrSyncPlugin_vs2010_x64_release.dll")
controllerId = 3
p.executePluginCommand(plugin ,"bla", [controllerId,pr2_cid],[50])
 2017-09-25 18:14:50 -07:00
erwincoumans 4655e9d83c Merge pull request #1338 from erwincoumans/master 
pybullet changeVisualShape texture fix, MSVC compile error
 2017-09-25 12:21:45 -07:00
erwincoumans 6d68a67c79 fix a bug in a changeVisualShape/texture selection, out-of-bounds check was using the wrong array. 
May fix some internal texture mug bug.
 2017-09-25 11:11:48 -07:00
erwincoumans 3f68b2ebf7 Merge pull request #1337 from erwincoumans/master 
tweak pybullet examples, fix a few warnings
 2017-09-25 09:33:28 -07:00
erwincoumans 0f30c95734 fix a compile error on Windows (variables need to be declared together at the start of a block in C) 2017-09-25 07:38:00 -07:00
erwincoumans 27674e5289 Update b3PluginManager.cpp 
pre/post tick were wrong order in initializer list
 2017-09-24 22:39:20 -07:00
erwincoumans 83805da531 Merge pull request #1336 from bingjeff/fix_bugs_in_jacobian 
[sharedmemory] Fill-out calculateJacobian command.
 2017-09-24 21:15:42 -07:00
erwincoumans f88973f832 Merge pull request #1286 from mendsley/clean_vbt_allocations 
Optimize Dbvt trees in place
 2017-09-24 20:35:57 -07:00
erwincoumans 8eb69552d1 Merge pull request #1335 from erwincoumans/master 
manually apply pull request 457 PR #457
 2017-09-24 16:38:23 -07:00
erwincoumans 4ff22a710c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-24 11:41:46 -07:00
erwincoumans 70974c76da add a few more contributors (the list is far from complete though) 2017-09-24 11:41:24 -07:00
erwincoumans fcc093ecae Merge pull request #1332 from erwincoumans/master 
create a C/C++ plugin system for pybullet / C-API.
 2017-09-24 10:28:14 -07:00
erwincoumans 17709ae690 Merge pull request #1333 from bingjeff/add_jacobians 
[pybullet] Add calculateJacobian.
 2017-09-24 09:44:27 -07:00
erwincoumans b1d6f58981 Update pybullet.c 
fix compile issue
 2017-09-24 09:16:54 -07:00
erwincoumans d7704eca3d Merge pull request #1334 from bulletphysics/revert-1331-cmake 
Revert "Cmake pybullet fix"
 2017-09-23 21:23:10 -07:00
erwincoumans e95a15dabe Revert "Cmake pybullet fix" 2017-09-23 20:58:14 -07:00
erwincoumans 8e496036c6 More work on the C/C++ plugin system for pybullet/C-API: 
Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand
 2017-09-23 18:05:23 -07:00
erwincoumans 5373ca39e1 add example snippet for the testPlugin/testplugin.cpp 2017-09-23 09:26:51 -07:00
erwincoumans 815a56c9bc Allow to load a urdf file in the testplugin.cpp, as first quick test, example pybullet script: 
import pybullet as p
p.connect(p.GUI)
pluginUid = p.loadPlugin("E:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll")
commandUid = 0
argument = "plane.urdf"
p.executePluginCommand(pluginUid,commandUid,argument)
p.unloadPlugin(pluginUid)
 2017-09-23 09:25:00 -07:00
erwincoumans 37cfce99b2 add arguments to plugin system 2017-09-23 07:52:10 -07:00
erwincoumans 5f6cd6a42b link against DL for dlopen 2017-09-23 07:26:03 -07:00
erwincoumans 240fff575d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-09-23 07:22:50 -07:00
Erwin Coumans 3783dccaa3 create a C/C++ plugin system for pybullet / C-API. 2017-09-22 19:17:57 -07:00
erwincoumans 312e35964f make some code const correct. 2017-09-22 07:53:21 -07:00
erwincoumans a506879d6c Merge pull request #1327 from erwincoumans/master 
Quick first prototype/test to integrate pybullet into Unity,
 2017-09-21 21:16:47 -07:00