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740 Commits

Author SHA1 Message Date
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
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
Erwin Coumans
8c0913d96b Merge remote-tracking branch 'bp/master' 2017-12-01 10:25:43 -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
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
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
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
Erwin Coumans
13f0c1ad8b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-11-10 16:36:22 -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
378020f864 divide by numWheelsOnGround, see hiker/https://github.com/bulletphysics/bullet3/issues/1400 2017-11-07 19:41:14 -08:00
Erwin Coumans
344005a8f0 catch invalid mass/inertia instead of division by zero/nan. also, avoid indexing <0 2017-11-07 19:25:14 -08:00
Erwin Coumans
32312e60a8 Merge remote-tracking branch 'bp/master' 2017-10-29 12:28:00 -07:00
d3x0r
88b49947b5 Composite of fixed code for mingw64(on windows) and general fixes for msvc. 
1) (win32window) don't convert char to wide, use char direct to window.
2) (CMakeLists) Don't link one library as static CPPLIB and no others (mismatched allocations)
3) (macros) Fix Gwen macros for mingw64 on windows build.  (changes are by compiler(msc_ver) not platform)
4) (FileUtils) sprintf_s reference by platform, not compiler (mingw64 support)
5) (b3OpenCLUtils) fix bad define name _MSVC_VER->_MSC_VER
6) (compoundCollision) remove unused variables, simplify operation.
7) (impulseconstraint) remove duplicated code block
 2017-10-28 14:42:38 -07:00
Erwin Coumans
a5a73ba0d8 fix for issue 1400 
use default output name for VHACD test binary
 2017-10-26 08:11:58 -07:00
erwincoumans
931cee06fc Merge pull request #1388 from ShFil119/master 
Fix jump(without argument)
 2017-10-24 00:31:13 +00:00
erwincoumans
a50a20ab9f Merge pull request #1383 from AndreaCatania/master 
Customize restitution and friction
 2017-10-23 21:00:18 +00:00
Erwin Coumans
c480fab9a0 make btMultiBodyFixedConstraint.cpp linear/angular constraint frame consistent 2017-10-18 19:47:32 -07:00
Filip Gawin
250c7d4407 Fix jump(without argument) 
Actually jump require btVector3,
unfortunately default argument isn't using
constructor with initialization.

http://bulletphysics.org/Bullet/BulletFull/classbtVector3.html#a82b4c5da54ecd4c91bd9b056dea0d288
 2017-10-18 10:31:45 +02:00
AndreaCatania
45558fc25a Implemented callbacks to customize combining algorithm of Friction, Restitution, etc.. 2017-10-15 11:42:02 +02:00
Erwin Coumans
c21e7a8a8e fix potentially uninitialized data warning 2017-10-14 10:16:33 -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
312e35964f make some code const correct. 2017-09-22 07:53:21 -07:00
erwincoumans
eb97e06280 fix minitaur.urdf: move lower-leg inertia to center, add missing collision for one of the motors, add contact parameters for friction_anchor, spinning friction, compliance (stiffness/damping) 
fix in indexing for maximal coordinates (unused by default, still experimental, requires many iterations for Minitaur due to extreme mass-ratio, hence use of reduces/generalized coordinates)
modify quadruped.py to test maximal coordinates
wrap angular servo (positional) target within [-PI,PI] in btGeneric6DofSpring2Constraint
add 'j' key to show body frames in wireframe/debug mode
 2017-09-02 01:05:42 -07:00
Lunkhound
b7f35000aa NNCG solver: apply rolling friction consistently regardless of the solver flags 2017-07-02 21:12:25 -07:00
erwincoumans
b4f21e77af Merge pull request #1206 from erwincoumans/master 
Allow to create concave collision meshes. Transparency (only OpenGL 3.x renderer, not tinyrenderer/gl2)
 2017-06-24 20:07:17 -07:00
Erwin Coumans
65e22ba3e9 allow auxilary link to be used for gear btMultiBodyGearConstraint. 2017-06-23 20:24:04 -07:00
erwincoumans
c48f5b1546 Merge pull request #1182 from lunkhound/pr-fix-solver-simd 
SequentialImpulseConstraintSolver: fix bugs with SOLVER_SIMD flag
 2017-06-20 12:19:15 -07:00
Erwin Coumans
bb8cfe3c9a pybullet.getAABB and getAPIVersion 
fix btMultiBody::getLinkCollider
bump up Bullet C-API version
 2017-06-15 19:46:27 -07:00
Erwin Coumans
d17faddff2 fix for b3RequestActualStateCommandComputeLinkVelocity/getLinkState link velocities for static links 2017-06-13 13:51:38 -07:00
Lunkhound
e9ec5044d1 SequentialImpulseConstraintSolver: fix bugs with SOLVER_SIMD flag 2017-06-10 04:33:40 -07:00
Erwin Coumans
46f2f3db4e implement 'mimic' joint constraint or 'gear' constraint for btMultiBody, add example in pybullet/examples/mimicJointConstraint.py 2017-06-07 16:22:02 -07:00
Erwin Coumans
a7aed37632 work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon) 
pybullet/C-API, expose linear/angular damping
fix some warnings (param name needs to be same in .h and .cpp)
fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread)
fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
 2017-06-04 22:04:16 -07:00
erwincoumans
518c7ec00e Merge pull request #1144 from lunkhound/pr-threading-refactor 
Bullet 2 threading refactor: moved parallel-for calls into core libs
 2017-06-02 16:18:12 -07:00
erwincoumans
3987bdd333 remove pose frame from SDF, 
allow plane collision shape in SDF
load the Roboschool stadium.sdf in humanoid_knee_position_control.py
 2017-06-01 20:13:39 -07:00
Lunkhound
34e2c1b784 add profiling info 2017-05-29 23:53:35 -07:00
Erwin Coumans
b645963879 expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...) 
Bullet C-API b3ChangeDynamicsInfoSetSpinningFriction/RollingFriction/Resitution
b3PhysicsParamSetRestitutionVelocityThreshold, / pybullet.setPhysicsEngineParameter restitutionVelocityThreshold:
if the velocity is below this threshhold, the restitution is zero (this prevents energy buildup at near-resting state)
pybullet restitution.py example.
 2017-05-26 18:14:38 -07:00
Lunkhound
d77c3d5b68 fix compile errors in non-threadsafe build 2017-05-23 02:34:29 -07:00
Lunkhound
dfe184e8d3 Bullet 2 threading refactor: moved parallel-for calls into core libs 2017-05-23 01:01:20 -07:00
erwincoumans
ba22f4a4dc Merge pull request #1126 from erwincoumans/master 
allow to enable/disable VR picking and VR teleport. Disabling VR pick…
 2017-05-16 13:55:47 -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
Andrew Meadows
81758bf1b3 'powered' is bool not int 2017-05-12 15:47:03 -07:00
Andrew Meadows
4a1c682c3c fix typo: Velosity-->Velocity 2017-05-12 15:46:01 -07:00
Oleg Klimov
f4943c3ed5 Fix self-collision code again (in case both flags are set) 2017-05-11 14:30:07 +03:00
erwincoumans
9a80b529d8 Merge pull request #1112 from erwincoumans/master 
bump up setup.py pybullet pypi pip version to 1.0.2
 2017-05-10 23:19:21 +00:00
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
Erwin Coumans
fc6fb7b14c initialize values (padding etc) help asan/msan tests 2017-05-09 18:00:28 -07:00