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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans 2019-04-27 06:24:12 -07:00
commit c591735042
5 changed files with 30 additions and 28 deletions
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2
examples/SharedMemory/b3PluginManager.cpp
View File

@ -112,7 +112,7 @@ struct b3PluginManagerInternalData
b3BulletDefaultFileIO m_defaultFileIO;
b3PluginManagerInternalData()
: m_rpcCommandProcessorInterface(0), m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1), m_activeCollisionPluginUid(-1), m_numNotificationPlugins(0), m_activeFileIOPluginUid(-1)
: m_physicsDirect(0), m_rpcCommandProcessorInterface(0), m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1), m_activeCollisionPluginUid(-1), m_numNotificationPlugins(0), m_activeFileIOPluginUid(-1)
{
}
};

52
examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp
View File

@ -388,35 +388,37 @@ struct WrapperFileIO : public CommonFileIOInterface
int childHandle = childFileIO->fileOpen(fileName, mode);
if (childHandle>=0)
{
int fileSize = childFileIO->getFileSize(childHandle);
char* buffer = 0;
if (fileSize)
{
buffer = m_cachedFiles.allocateBuffer(fileSize);
if (buffer)
{
int readBytes = childFileIO->fileRead(childHandle, buffer, fileSize);
if (readBytes!=fileSize)
{
if (readBytes<fileSize)
{
fileSize = readBytes;
} else
{
printf("WrapperFileIO error: reading more bytes (%d) then reported file size (%d) of file %s.\n", readBytes, fileSize, fileName);
}
}
} else
{
fileSize=0;
}
}
//potentially register a zero byte file, or files that only can be read partially
if (m_enableFileCaching)
{
int fileSize = childFileIO->getFileSize(childHandle);
char* buffer = 0;
if (fileSize)
{
buffer = m_cachedFiles.allocateBuffer(fileSize);
if (buffer)
{
int readBytes = childFileIO->fileRead(childHandle, buffer, fileSize);
if (readBytes!=fileSize)
{
if (readBytes<fileSize)
{
fileSize = readBytes;
} else
{
printf("WrapperFileIO error: reading more bytes (%d) then reported file size (%d) of file %s.\n", readBytes, fileSize, fileName);
}
}
} else
{
fileSize=0;
}
}
//potentially register a zero byte file, or files that only can be read partially
m_cachedFiles.registerFile(fileName, buffer, fileSize);
}
childFileIO->fileClose(childHandle);
break;
}

0
examples/pybullet/gym/pybullet_data/data/motions/laikago_walk.json → examples/pybullet/gym/pybullet_data/data/motions/laikago_walk.txt
View File

2
examples/pybullet/gym/pybullet_envs/deep_mimic/env/testLaikago.py vendored
View File

@ -116,7 +116,7 @@ joints=[]
mocapData = motion_capture_data.MotionCaptureData()
motionPath = pybullet_data.getDataPath()+"/data/motions/laikago_walk.json"
motionPath = pybullet_data.getDataPath()+"/data/motions/laikago_walk.txt"
mocapData.Load(motionPath)
print("mocapData.NumFrames=",mocapData.NumFrames())

2
setup.py
View File

@ -468,7 +468,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
setup(
name = 'pybullet',
version='2.4.8',
version='2.4.9',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',