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Author SHA1 Message Date
Erwin Coumans e97b751781 further work on urdfEditor.py, fix some serialization issues 2018-01-08 12:25:56 -08:00
Erwin Coumans a85a4f387b more work on UrdfEditor.py 2018-01-06 15:00:20 -08:00
Erwin Coumans 9a9aa5e9e7 example of joint motor with friction 2018-01-06 13:43:07 -08:00
Erwin Coumans c59a3763e5 tweak ImportMJCFSetup.cpp example MJCF humanoid a bit, clamp target positions to be within joint limits to avoid solver problems (conflicting constraints) 
add humanoid_manual_control.py PyBullet example which is similar to ImportMJCFSetup.cpp
 2018-01-04 13:14:11 -08:00
Erwin Coumans 4743d2770a fix recently introduced crashing bug in MJCF reader 
due to https://github.com/bulletphysics/bullet3/pull/1484 (Issue 1484)
 2018-01-03 21:47:58 -08:00
Erwin Coumans 36c258fd3d fix PhysicsLoopBack 2018-01-03 21:38:09 -08:00
erwincoumans 577ee86012 Update README.md 2018-01-03 19:30:12 -08:00
Erwin Coumans 79d78a325a Start of a urdfEditor.py, limited support to extract a URDF from a PyBullet body. 
Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape.
Implement PyBullet.getCollisionShapeData
Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!)
Extend PyBullet.getJointInfo: add parentIndex
 2018-01-03 19:17:28 -08:00
erwincoumans dc50c0ff3b Merge pull request #1493 from jietan/pullRequest 
Pull request
 2018-01-02 19:45:14 -08:00
erwincoumans a1492f50fc Merge pull request #1492 from erwincoumans/master 
implement pybullet.saveState command, for in-memory storage of state.
 2017-12-31 19:19:35 -08:00
Erwin Coumans 35b44f8a85 implement pybullet.saveState command, for in-memory storage of state. 
bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010
 2017-12-31 15:37:16 -08:00
erwincoumans 515aa9ee9b Merge pull request #1491 from erwincoumans/master 
some progress in saving and restoring the state
 2017-12-31 13:39:27 -08:00
Erwin Coumans 4c6df650d4 skip serialization of empty contact manifolds. 2017-12-31 11:28:22 -08:00
Erwin Coumans f104765c47 added some template to restore (syncMultiBody, syncContactManifolds) for single float and double precision, in 'pybullet.restoreState' 2017-12-31 11:19:29 -08:00
Erwin Coumans 20e00d11d8 further work on saveRestoreState.py 2017-12-30 21:57:42 -08:00
Erwin Coumans 9c55b61315 pybullet.createVisualShape: process sphere radius, box half extents, capsule+cylinder radius/length 
fixes issue #1427, https://github.com/bulletphysics/bullet3/issues/1427
 2017-12-30 17:42:13 -08:00
Erwin Coumans 4084c1cc71 also add serializeContactManifolds to btSoftMultiBodyDynamicsWorld.cpp and btDiscreteDynamicsWorld. 2017-12-30 14:20:20 -08:00
Erwin Coumans 0326fa93a8 made some progress in saving and restoring the state during the simulation, with identical results. 
Option to de/serialize btPersistentContactManifolds and fix lossy conversion during btMultiBody de/serialization of base world transform
(serialize the quaternion, not the converted 3x3 matrix)
There are still several caches not taken into account, and btMultiBody links/constraints are not deserialized yet etc.
See examples\pybullet\examples\saveRestoreState.py for an example.
 2017-12-30 14:19:13 -08:00
erwincoumans e3a85493e8 Merge pull request #1484 from rhaps0dy/MJCFImporter 
Support for reading <inertial> elements from MJCF
 2017-12-29 10:58:08 -08:00
erwincoumans 28803dc56f Merge pull request #1487 from erwincoumans/master 
expose link index in segmentation mask (getCameraImage) when a flag is set. preparation for restoreState (not implemented yet), allow multiple options in connect call.
 2017-12-29 10:55:15 -08:00
Erwin Coumans 29cfac096b compile fix in pybullet.c 2017-12-28 12:57:49 -08:00
Erwin Coumans 22e23d22d1 double/single precision compile fix 2017-12-28 12:55:47 -08:00
Erwin Coumans 5517cbc4e0 add segmask_linkindex.py example using p.getCameraImage(320,200,flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX) 
to extract object unique id and link index from segmentation mask in getCameraImage
 2017-12-28 12:37:07 -08:00
Erwin Coumans afd1066c50 pybullet.getCameraImage: preparation to expose link index in segmentation mask buffer 2017-12-28 10:18:35 -08:00
Erwin Coumans 78e4d9675e Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-12-28 10:15:46 -08:00
Erwin Coumans 97547eda0d preliminary work towards saveState/restoreState and saveRestoreState.py example (not implemented yet) 
allow multiple options in connect, for example: p.connect(p.GUI, options="--width=640, --height=480")
 2017-12-28 10:05:51 -08:00
Erwin Coumans d0561d81b0 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-12-26 07:59:07 -08:00
Erwin Coumans 799d030874 restore multibody world transform and joint angles/velocities from a .bullet file. 2017-12-22 14:45:36 -08:00
erwincoumans 60d2af8ed2 Merge pull request #1483 from erwincoumans/master 
expose API to change the local inertia diagonal, pybullet.ChangeDynam…
 2017-12-20 17:46:36 -08:00
erwincoumans 41f9bb89e5 expose API to change the local inertia diagonal, pybullet.ChangeDynamics(objectUid, linkIndex, localInertiaDiagonal=[xx,yy,zz]) 2017-12-20 16:56:31 -08:00
erwincoumans 6803c80f89 Merge pull request #1482 from erwincoumans/master 
expose local inertia diagonal in PyBullet/C-API, render inertia boxes, updated minitaur with flex brackets
 2017-12-20 16:09:01 -08:00
erwincoumans eb35cba740 expose local inertia diagonal in C-API, PyBullet, through the 'getDynamicsInfo' 
render the inertia boxes in examples/pybullet/examples/quadruped.py and examples/pybullet/examples/reset_dynamic_info.py
fix an issue where the original margin (0.04) was used to compute the inertia, instead of latest margin
 2017-12-20 14:54:32 -08:00
erwincoumans c0619ac924 Merge pull request #1475 from yurivict/master 
Fixed GL/GLEW libraries on BSD (they weren't linked).
 2017-12-14 11:38:25 -08:00
erwincoumans ef4d5e68cf Merge pull request #1476 from avikde/cmakelists_default_sse_off 
Removed default ON for USE_MSVC_SSE (warning on recent 64 bit windows)
 2017-12-14 11:30:27 -08:00
erwincoumans c5dd2fc466 Merge pull request #1479 from erwincoumans/master 
fix in cone friction, test with Markdeep doc
 2017-12-14 11:20:24 -08:00
erwincoumans 5ab6a0ad43 Fix issue with cone friction, we had to accumulate squared residual, not just residual. 
This fixes issue 1473, thanks to Avik De for reporting the issue.
 2017-12-14 10:51:43 -08:00
erwincoumans e0bb359804 report the camera target in the ExampleBrowser StatusBarMessage 
(so the parameters reported are compatible with the resetDebugVisualizerCamera API)
 2017-12-14 09:36:36 -08:00
erwincoumans 72eeacc9db Merge pull request #1478 from jietan/pullRequest 
add system id for rainbow dash (second generation minitaur with TX2 i…
 2017-12-13 17:42:26 -08:00
erwincoumans ec444fcad9 Merge pull request #1471 from ahundt/patch-1 
FindPythonLibs.cmake add missing quotes
 2017-12-07 19:57:37 -08:00
erwincoumans 1ce98eeac8 Merge pull request #1467 from erwincoumans/master 
expose pybullet 'enableConeFriction
 2017-12-01 14:34:30 -08:00
Erwin Coumans c556ad651d expose pybullet 'enableConeFriction' to switch between pyramid and cone friction model. 2017-12-01 10:07:07 -08:00
Erwin Coumans e1df1534f3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-11-30 13:11:39 -08:00
erwincoumans aa82003174 Update btMultiBodyConstraintSolver.h 2017-11-29 10:53:29 -08:00
erwincoumans 5cada6a78d Merge pull request #1464 from erwincoumans/master 
add pybullet unittests.py with travis support
 2017-11-29 10:38:36 -08:00
erwincoumans e76804173a Merge pull request #1463 from erwincoumans/master 
fixes related to torsional friction, due to recent cone friction update.
 2017-11-28 21:18:57 -08:00
erwincoumans 8ff75e11cd fixes related to torsional friction, due to recent cone friction update. 2017-11-28 20:09:56 -08:00
Erwin Coumans b031ba0333 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-11-28 11:52:07 -08:00
erwincoumans 18e7c3088f Merge pull request #1461 from avikde/TwoJoint_example 
added TwoJoint example
 2017-11-27 11:05:06 -08:00
erwincoumans 25628820ef Merge pull request #1458 from jl/jl-const-masses 
add const to masses for calculatePrincipalAxisTransform
 2017-11-25 20:07:59 -08:00
erwincoumans 1c8d5cf964 Merge pull request #1456 from erwincoumans/master 
pybullet: fix numpy compile issue on Windows, another fix
 2017-11-24 19:24:15 -08:00
erwincoumans 2e247fb406 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-11-24 18:09:37 -08:00
erwincoumans c5f79fe979 pybullet testrender.py/testrender_np.py examples, improve matplotlib rendering performance (headless DIRECT and OpenGL/GUI) 2017-11-24 18:09:20 -08:00
erwincoumans b1c2bdc72a pybullet: fix numpy compile issue on Windows, another fix 2017-11-24 16:50:36 -08:00
erwincoumans d6fe45ca24 Merge pull request #1455 from erwincoumans/master 
pybullet: fix Windows numpy build 82b51ac, bump up to version 1.7.2
 2017-11-24 15:06:03 -08:00
erwincoumans d22b160a6d Merge pull request #1453 from erwincoumans/master 
friction cone test
 2017-11-23 18:15:32 -08:00
erwincoumans 9936a1cc92 friction cone test 2017-11-23 18:14:29 -08:00
erwincoumans bf88669925 Merge pull request #1452 from erwincoumans/master 
Bullet bump up to version 2.88
 2017-11-23 18:00:34 -08:00
erwincoumans 4cc29008f7 bump up pybullet version to 1.7.1 2017-11-23 17:39:09 -08:00
erwincoumans e6e3da11e5 Implement true implicit friction cone, instead of friction pyramid, for btMultiBody vs btMultiBody and btMultiBody vs btRigidBody 
See data/sphere_small_zeroinertia.urdf for an example.
 2017-11-23 17:38:23 -08:00
erwincoumans 874d764051 add missing file in CMakeLists.txt 2017-11-23 09:32:31 -08:00
erwincoumans c8f1efe7dc fix case in include 2017-11-23 09:15:19 -08:00
erwincoumans 960ee27a9a Merge remote-tracking branch 'bp/master' 2017-11-22 18:14:28 -08:00
erwincoumans 29aa9cb789 Bullet bump up to version 2.88 
add preliminary support to import btMultiBody from a .bullet file (will help save/restore state)
fix some Windows char/widechar issues
 2017-11-22 18:12:02 -08:00
erwincoumans c04840be87 Merge pull request #1451 from erwincoumans/master 
reduce stack usage
 2017-11-22 17:07:04 -08:00
erwincoumans 76772fd301 reduce stack usage 2017-11-22 15:30:56 -08:00
erwincoumans 02d7ae86ec Merge pull request #1412 from RicoP/master 
use Ansi version of LoadLibrary
 2017-11-22 14:52:53 -08:00
erwincoumans 4ee9a17d6d Merge pull request #1449 from erwincoumans/master 
expose a maximum velocity due to the joint motor in position control
 2017-11-21 19:45:14 -08:00
erwincoumans ab843b26f0 expose a maximum velocity due to the joint motor in position control. 
see also pybullet/examples/motorMaxVelocity.py
this fixes issue 1444
 2017-11-21 17:05:28 -08:00
erwincoumans 89d645b538 Merge pull request #1447 from erwincoumans/master 
reduce MAX_SDF_BODIES to 512, it causes stack overflow failures in so…
 2017-11-20 11:36:39 -08:00
erwincoumans 601767bca5 Merge pull request #1445 from erwincoumans/master 
pybullet: move RGB,depth, segmentation mask preview windows
 2017-11-18 20:35:04 -08:00
erwincoumans 099a6f65f3 tweak zbuffer visualization, show targetpos in example browser 2017-11-18 15:18:46 -08:00
erwincoumans 81146a4090 pybullet: move RGB,depth, segmentation mask preview windows to the right 
remove some dead code from PhysicsServerCommandProcessor.cpp
 2017-11-18 13:21:20 -08:00
erwincoumans 8b0a5758ce Merge pull request #1443 from erwincoumans/master 
Finally refactored the PhysicsServerCommandProcessor::processCommand …
 2017-11-17 17:08:02 -08:00
erwincoumans b2a1eeb754 Merge remote-tracking branch 'bp/master' 2017-11-17 16:21:09 -08:00
erwincoumans a9b59b4511 Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. 
Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
 2017-11-17 16:14:18 -08:00
erwincoumans 848be4710e Merge pull request #1440 from erwincoumans/master 
remove obsolete 'register' from BussIK
 2017-11-17 14:13:16 -08:00
erwincoumans e2d29d4048 also enable depth and segmentation mask preview window in example browser/pybullet 
You can disable/enable all preview windows using:

p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW,0/1)
p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0/1)
p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MASK_PREVIEW,0/1)
 2017-11-17 13:33:27 -08:00
erwincoumans f31f552ee3 Merge pull request #1439 from mbreyer/bugfix-TinyRenderer 
Fix wrong depth values returned by TinyRenderer
 2017-11-17 09:39:55 -08:00
erwincoumans cdc3489d7b Merge pull request #1430 from erwincoumans/master 
revert __ANDROID__ btQuickprof.cpp change
 2017-11-17 09:39:06 -08:00
Erwin Coumans b468f7c07b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-11-16 10:48:37 -08:00
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
Erwin Coumans 04aa7cc24d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-11-12 22:05:50 -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
Erwin Coumans 13f0c1ad8b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-11-10 16:36:22 -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
Erwin Coumans e261d55cee Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-11-08 22:19:12 -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
Erwin Coumans 378020f864 divide by numWheelsOnGround, see hiker/https://github.com/bulletphysics/bullet3/issues/1400 2017-11-07 19:41:14 -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