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Author SHA1 Message Date
Erwin Coumans
af57c812aa Merge remote-tracking branch 'bp/master' 2017-01-06 07:39:08 -08:00
erwincoumans
5b2ad7285c Merge pull request #912 from benelot/robotcontrol-update 
Update robotcontrol.py script
 2017-01-06 07:37:36 -08:00
Erwin Coumans
90b1026785 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-05 18:36:54 -08:00
Erwin Coumans
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.
 2017-01-05 18:30:01 -08:00
Erwin Coumans
249f843d4e update pybullet quickstart guide, add setVRCameraState and added drawing that visualizes base, joints and links. 2017-01-05 18:18:46 -08:00
Erwin Coumans
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
 2017-01-05 17:41:58 -08:00
Benelot
fa2a734857 Update robotcontrol.py script. Closes #907. 2017-01-06 00:30:28 +01:00
Lunkhound
ea0df70c77 example browser: fix for GUI button toggle state 2017-01-02 23:01:22 -08:00
Lunkhound
da03d8ce5a options to change solver type and mode 
Conflicts:
	examples/MultiThreadedDemo/CommonRigidBodyMTBase.h
 2017-01-02 22:57:48 -08:00
erwincoumans
fb51c3f7ed Merge pull request #901 from erwincoumans/master 
fix win32 UNICODE build, update pybullet quickstart quide PDF, pybullet.loadMJCF hookup
 2016-12-31 17:40:28 -08:00
erwincoumans
92b53a4990 Merge pull request #895 from lunkhound/pr-fix-example-browser-text 
example browser: restore on-screen text
 2016-12-31 17:40:08 -08:00
Erwin Coumans
c940f0ec47 update pybullet quickstart quide PDF 
hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
 2016-12-31 14:43:15 -08:00
erwin coumans
63d3374c00 Merge remote-tracking branch 'bp/master' 2016-12-31 11:36:30 -08:00
erwin coumans
c6650f9329 fix win32 UNICODE build 
re-enable VR teleport
 2016-12-31 11:35:56 -08:00
erwincoumans
7d7e2fdf77 Merge pull request #900 from erwincoumans/master 
First step towards a MuJoCo MJCF importer for Bullet. It can load the…
 2016-12-30 19:02:10 -08:00
Erwin Coumans
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. 2016-12-30 18:32:57 -08:00
erwincoumans
8efdd272b2 Merge pull request #899 from erwincoumans/master 
pybullet: allow to connect to multiple physics servers, while maintai…
 2016-12-28 22:51:40 -08:00
Erwin Coumans
7b9d194bfd fix compile issues 2016-12-28 22:38:48 -08:00
Erwin Coumans
d7d4fe5c45 fix compile issue (use constructor) 2016-12-28 22:24:03 -08:00
Erwin Coumans
ac02acc2f3 fix compile issue (btMin requires same types, no conversion, just replace with < = combo) 2016-12-28 22:10:03 -08:00
Erwin Coumans
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
 2016-12-28 21:51:54 -08:00
Erwin Coumans
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. 2016-12-27 20:25:52 -08:00
erwincoumans
a5ecbbc682 Merge pull request #898 from erwincoumans/master 
many pybullet / VR improvements
 2016-12-27 15:57:17 -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
Erwin Coumans
018aa08bf8 suppress Linux error related to PRIu64/__STDC_FORMAT_MACROS 2016-12-26 22:55:28 -08:00
Erwin Coumans
178a002cb5 prev -> prevPosition 2016-12-26 22:40:08 -08:00
Erwin Coumans
b55d76acbc clarify field names in vrEvent.py 2016-12-26 22:36:53 -08:00
Erwin Coumans
c378d236bb make the event fields understandable 2016-12-26 22:31:41 -08:00
Erwin Coumans
a4cf0c8b11 Linux clock_gettime needs rt / librt, so put it behind BT_LINUX_REALTIME for now. 2016-12-26 22:00:39 -08:00
Erwin Coumans
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
 2016-12-26 21:15:59 -08:00
Erwin Coumans
9c12e4edb0 don't reset the simulation (in C++), when pressing some VR button 
add some little tests in vrEvent.py
 2016-12-26 21:08:10 -08:00
Erwin Coumans
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
 2016-12-26 19:40:09 -08:00
Erwin Coumans
e592290f4c tweaks/fixes in about://tracing performance data generator (press and hold 'p' in example browser, release 'p' will save the file 'timingsX.json') 2016-12-23 21:56:31 -08:00
Erwin Coumans
0917310521 add nanosecond resolution for Mac OSX clock / about://tracing timings 2016-12-23 18:18:35 -08:00
Erwin Coumans
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)
 2016-12-23 15:20:04 -08:00
Erwin Coumans
da7ae53941 render regular view on desktop in VR, instead of distortion view. 2016-12-20 17:34:12 -08:00
Lunkhound
f7ccf7e5a7 example browser: restore on-screen text 2016-12-20 01:15:39 -08:00
erwincoumans
1deb3c1666 Merge pull request #894 from lunkhound/pr-fix-kinematics 
FIX: kinematic objects treated as static when BT_THREADSAFE is defined
 2016-12-19 22:49:01 -08:00
Lunkhound
6d2c7b9aba constraint solver: fix bug in getOrInitSolverBody (threadsafe case only) for kinematic objects 2016-12-19 21:31:38 -08:00
Lunkhound
a10244e1ab MultiThreadedDemo: make the ground a kinematic object that can shake 2016-12-19 21:31:18 -08:00
erwincoumans
e71560a2ee Merge pull request #892 from erwincoumans/master 
Fix contact normal issue if disabling/using small margins, See Issue …
 2016-12-19 16:01:26 -08:00
Erwin Coumans
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
 2016-12-18 18:37:53 -08:00
erwincoumans
b9f1a5da5c Merge pull request #890 from erwincoumans/master 
(finally!) add option to terminate PGS constraint solvers based on a least square residual threshold
 2016-12-18 17:03:46 -08:00
Erwin Coumans
379a852f93 fix compile issues 2016-12-16 18:43:21 -08:00
Erwin Coumans
8ff1e55166 disable VERBOSE_RESIDUAL_PRINTF 2016-12-16 18:12:33 -08:00
Erwin Coumans
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
 2016-12-16 18:09:52 -08:00
Erwin Coumans
38b10137c9 allow to terminate btSolveProjectedGaussSeidel MLCP solver based on a least squares residual threshold (m_leastSquaresResidualThreshold) 2016-12-16 14:30:12 -08:00
erwincoumans
75633d5d14 Merge pull request #887 from erwincoumans/master 
update to OpenVR 1.04 and premake5.exe
 2016-12-15 18:13:58 -08:00
Erwin Coumans
5630a63848 remove 'Kuka' postfix from pybullet.calculateInverseKinematics 
add basic pybullet quickstart pdf documentation
 2016-12-14 21:11:53 -08:00