52761f5578
[pybullet] implement addUserDebugParameter / readUserDebugParameter fix inertial frame for door.urdf allow picking of links of multi-bodies with a fixed base
Erwin Coumans
2017-01-17 15:42:32 -08:00
12a391e1f9
[pybullet] expose collision filter mode and max constraint force: pybullet.changeUserConstraint(maxForce=<double>) pybullet.setPhysicsEngineParameter(collisionFilterMode=<int>)
Erwin Coumans
2017-01-16 18:17:18 -08:00
93471a1c31
cmake Win32 fixes fixed some more warnings added alignment macros to some classes btPersistentManifold from 128 to 16 bytes aligned prepare command to select collision filter mode (SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
Erwin Coumans
2017-01-16 13:05:26 -08:00
3dfcd27147
upgrade to latest stb_image from 7e989db555
Erwin Coumans
2017-01-16 11:37:44 -08:00
3d985ff7a5
add App_SharedMemoryPhysics and App_SharedMemoryPhysics_GUI to cmake fix 'connection' detection for shared memory (due to multiple shmem blocks) add link to pybullet.so
Erwin Coumans
2017-01-16 11:17:32 -08:00
8e9181f85c
[MJCF import] add custom broadphase collision filter, for MJCF/MuJoCo compatibility [MJCF import] improve MuJoCo importer, support collision filters fixed a few more warnings
Erwin Coumans
2017-01-16 08:23:49 -08:00
c0c4c8ba3f
fix many warnings remove btMultiSapBroadphase.* make collisionFilterGroup/collisionFilterMark int (instead of short int)
Erwin Coumans
2017-01-15 22:26:11 -08:00
310fabcd7e
Further improvements in Bullet MuJoCo MJCF import: [MJCF import] improved humanoid.xml, inverted_pendulum.xml import (automatically add dummy-links to connect multiple joints between bodies) [MJCF import] fix bug in quaternion conversion (w,x,y,z) -> (x,y,z,w)
Erwin Coumans
2017-01-15 11:22:24 -08:00
8a6e40ff95
add --disable_desktop_gl for Virtual Reality server (App_SharedMemoryPhysics_VR) (making the VR performance much better on lowish-quality GPU hardware)
erwin coumans
2017-01-14 08:05:04 -08:00
7b7d897e3b
explicitly mark dead code
Erwin Coumans
2017-01-12 12:29:15 -08:00
a93704889c
add a default empty implementation for a few pure virtual calls (in interface classes) for backward compatibility in some code base
Erwin Coumans
2017-01-12 11:40:43 -08:00
9aa5a839d5
add pybullet.changeConstraint / b3InitChangeUserConstraintCommand/ b3InitChangeUserConstraintSetPivotInB /b3InitChangeUserConstraintSetFrameInB command, to change an existing user constraint. add constraint.py example. allow pybullet.createConstraint to create user constraint without a child body ('fixed' to the world)
Erwin Coumans
2017-01-12 10:30:46 -08:00
1c79798583
make sure threads will get out of 'workerThreadWait' so they can exit at the end
Erwin Coumans
2017-01-12 08:06:40 -08:00
8caea20425
small tweak in inverse_kinematics.py example, to make it run better on OSX
Erwin Coumans
2017-01-11 21:57:02 -08:00
4897139dad
pybullet.calculateInverseKinematics: expose null space method with and without orientation add inverse_kinematics.py and hello_pybullet.py pybullet examples add m_worldLinkFramePosition/Orientation fields to b3LinkState, and in pybullet.getLinkState (URDF link frame in Cartesian/world coordinates)
Erwin Coumans
2017-01-11 21:39:22 -08:00
3d6584962a
remove some memory leaks in example code.
Erwin Coumans
2017-01-10 14:57:16 -08:00
5e948ebe00
add placeholder for EGLOpenGLWindow
Erwin Coumans
2017-01-09 15:59:47 -08:00
0f51fb618d
micro-sleep every 8 milliseconds in physics server, to not starve other threads.
Erwin Coumans
2017-01-08 13:06:08 -08:00
5e6cfd70b5
iOS platform and Android don't have __thread local storage, so avoid multi-threaded profiler on those (only on _WIN32, __linux__ and __APPLE__ and not TARGET_OS_IPHONE Add a Sleep(0) for Windows to yield threads (and not Sleep(1))
Erwin Coumans
2017-01-08 12:49:04 -08:00
afdcf69837
implement some dummy methods in URDFImporterInterface, some code breaks because of un-implemented methods
Erwin Coumans
2017-01-07 09:30:06 -08:00
b979064817
fix compile error on GCC
Lunkhound
2017-01-06 21:20:44 -08:00
0cf869e56a
add multiple shared memory blocks, to allow multiple simultaneous connections. At the moment, MAX_SHARED_MEMORY_BLOCKS = 2 Note that the amount of shared memory is limited on many systems, 32MB, while one block is already over 1MB at the moment... You can connect to SHARED_MEMORY using the current key, and key+1. There are a few commands that cannot currently be executed in parallel among multiple connections, since the implementation of the server caches some data: rendering image (getCameraData), getting contact point data and getting debug lines.
Erwin Coumans
2017-01-05 18:30:01 -08:00
249f843d4e
update pybullet quickstart guide, add setVRCameraState and added drawing that visualizes base, joints and links.
Erwin Coumans
2017-01-05 18:18:46 -08:00
83e103ac15
Add pybullet setVRCameraState and b3SetVRCameraStateCommandInit to set the VR camera root transform (position/orientation) and optional tracking object unique id (-1 for no tracking) Fix robotcontrol.py script, getContactPointData -> getContactPoints
Erwin Coumans
2017-01-05 17:41:58 -08:00
c940f0ec47
update pybullet quickstart quide PDF hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
Erwin Coumans
2016-12-31 14:43:15 -08:00
fdd517e00f
First step towards a MuJoCo MJCF importer for Bullet. It can load the humanoid.xml, ant.xml and some other OpenAI GYM asset files. Not all fields are converted, so it is work-in-progress. This is useful for Reinforcement Learning experiments, and would also help integration with DeepMind Lab.
Erwin Coumans
2016-12-30 18:32:57 -08:00
10eb8d63f8
[WIP] Fix some add/remove issues.
Benelot
2016-12-30 01:46:36 +01:00
ac02acc2f3
fix compile issue (btMin requires same types, no conversion, just replace with < = combo)
Erwin Coumans
2016-12-28 22:10:03 -08:00
82995a8343
pybullet, more robust multi-server connections Windows shared memory: allow to use custom key. Improve GUI performance on Windows, submit letters in text as a batch (fewer draw-calls) quadruped.py: first try to connect to SHARED_MEMORY, if it fails (<0) use GUI increase Chrome about://tracing json export capacity (press 'p' in Example Browser) UDP physics server: add --port and --sharedMemoryKey command-line arguments PhysicsServerExample: add --sharedMemoryKey command-line option (for VR example too) ExampleBrowser: sleep a few milliseconds if rendering is too fast, use --minUpdateTimeMicroSecs=0 to disable
Erwin Coumans
2016-12-28 21:51:54 -08:00
da2cc483b4
pybullet: allow to connect to multiple physics servers, while maintaining backwards compatibility. connect method returns an integer 'physicsClientId'. This can be passed as optional argument to each method (except for a few 'obsolete' ones.
Erwin Coumans
2016-12-27 20:25:52 -08:00
e655fead29
fix CMakeLists.txt for BasicDemoGui on WIN32
2016-12-27 15:12:25 -08:00
291d35ea6e
fix some linux issues (cmake doesn't need to link against OpenGL, X11, Xext since we dynamically load those move some structures to global namespace
2016-12-27 13:20:12 -08:00
3add00631f
Merge branch 'master' into 3D-NN-walkers-example
Benelot
2016-12-27 21:09:49 +01:00
3a424079f3
[WIP] Implementing recreating the world to reset it.
Benelot
2016-12-27 21:00:22 +01:00
018aa08bf8
suppress Linux error related to PRIu64/__STDC_FORMAT_MACROS
Erwin Coumans
2016-12-26 22:55:28 -08:00
b55d76acbc
clarify field names in vrEvent.py
Erwin Coumans
2016-12-26 22:36:53 -08:00
c378d236bb
make the event fields understandable
Erwin Coumans
2016-12-26 22:31:41 -08:00
a4cf0c8b11
Linux clock_gettime needs rt / librt, so put it behind BT_LINUX_REALTIME for now.
Erwin Coumans
2016-12-26 22:00:39 -08:00
7aa7c4dfee
Linux needs #include <time.h>? /home/travis/build/bulletphysics/bullet3/src/LinearMath/btQuickprof.cpp:251:19: error: ‘CLOCK_REALTIME’ was not declared in this scope /home/travis/build/bulletphysics/bullet3/src/LinearMath/btQuickprof.cpp:251:37: error: ‘clock_gettime’ was not declared in this scope
Erwin Coumans
2016-12-26 21:15:59 -08:00
9c12e4edb0
don't reset the simulation (in C++), when pressing some VR button add some little tests in vrEvent.py
Erwin Coumans
2016-12-26 21:08:10 -08:00
826c5854a8
See also pybullet quickstart guide here: https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit# vrevent.py: add a Tiltbrush-style drawing example using pybullet Expose getVREvents to pybullet / shared memory API, access to any VR controller state & state changes. Improve performance of user debug lines (pybullet/shared memory API) by batching lines with same color/width expose rayTest to pybullet/shared memory API (single ray for now) add pybullet getMatrixFromQuaterion
Erwin Coumans
2016-12-26 19:40:09 -08:00
e592290f4c
tweaks/fixes in about://tracing performance data generator (press and hold 'p' in example browser, release 'p' will save the file 'timingsX.json')
Erwin Coumans
2016-12-23 21:56:31 -08:00
0917310521
add nanosecond resolution for Mac OSX clock / about://tracing timings
Erwin Coumans
2016-12-23 18:18:35 -08:00
4c06fd27b3
Example Browser: add option (keypress 'p') to dump json timing profile trace, that you can open using Chrome about://tracing Make btQuickprof thread safe Add option in btQuickprof to override custom timing profile (btSetCustomEnterProfileZoneFunc, btSetCustomLeaveProfileZoneFunc) remove b3Printf in a user/physics thread (those added added, while drawing the GUI running in the main thread)
Erwin Coumans
2016-12-23 15:20:04 -08:00
da7ae53941
render regular view on desktop in VR, instead of distortion view.
Erwin Coumans
2016-12-20 17:34:12 -08:00
f7ccf7e5a7
example browser: restore on-screen text
Lunkhound
2016-12-20 01:14:08 -08:00
e0c46f4b1a
Fix contact normal issue if disabling/using small margins, See Issue #889 See Issue #889 : GJK/EPA: use smaller tolerances in BT_USE_DOUBLE_PRECISION mode
Erwin Coumans
2016-12-18 18:37:53 -08:00
dcd02a1e15
add option to terminate PGS constraint solvers based on a least square residual threshold (for example solverInfo().m_leastSquaresResidualThreshold = 1e-7 and use large m_numSolverIterations disable sphere-sphere contact cache, it is buggy (some contact point stay in the cache, when sphere penetrates more than total margins) tweak some gpu demo settings
Erwin Coumans
2016-12-16 18:09:52 -08:00
38b10137c9
allow to terminate btSolveProjectedGaussSeidel MLCP solver based on a least squares residual threshold (m_leastSquaresResidualThreshold)
Erwin Coumans
2016-12-16 14:30:12 -08:00
5630a63848
remove 'Kuka' postfix from pybullet.calculateInverseKinematics add basic pybullet quickstart pdf documentation
Erwin Coumans
2016-12-14 21:11:53 -08:00
9ae40a59ba
export joint types in pybullet for pybullet.createConstraint revert to premake4.exe, the targetsuffix etc doesn't seem to work in premake5.exe
Erwin Coumans
2016-12-14 20:44:10 -08:00
Benelot
erwincoumans
erwin coumans
Lunkhound
