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Commit Graph

189 Commits

Author SHA1 Message Date
yunfeibai
fd7aa8d0e1 Expose using projective texture as a flag in pybullet getCameraImage API. 2018-03-18 17:01:23 -07:00
erwincoumans
ddf304ca78 PyBullet: expose internal edge utility, to adjust edge normals to prevent object penetrating along triangle edges of concave triangle meshes 
(due to local convex-triangle collisions causing opposite contact normals, use the pre-computed edge normal)
PyBullet: expose experimental continuous collision detection for maximal coordinate rigid bodies, to prevent tunneling.
 2018-02-16 19:44:33 -08:00
erwincoumans
df0305462d refactor b3RobotSimulatorClientAPI into a main part without GUI dependencies (no OpenGL, gwen, glew etc) 
so that App_RobotSimulator_NoGUI can link against BulletRobotics and App_RobotSimulator links against BulletRobotics and some extra files.
 2018-02-02 18:33:29 -08:00
Erwin Coumans
5776f61a73 fix issue that prevents p/invoke c# generation from PhysicsClientC_API.h 2018-01-29 19:16:01 -08:00
erwincoumans
e138e85bca allow to enable/disable implicit cylinder conversion through an API 
p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER)
allow to enable/disable deterministicOverlappingPairs through an API
p.setPhysicsEngineParameter(deterministicOverlappingPairs = False)
 2018-01-09 10:10:36 -08:00
YunfeiBai
de3b8bf3c9
Merge branch 'master' into master 2018-01-08 18:13:03 -08:00
yunfeibai
d3bc98e245 Add filename as an argument in the softbody loading function. 2018-01-07 19:56:46 -08:00
yunfeibai
d077bdec07 Change the API names for loading softbody. 2018-01-07 19:24:37 -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
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
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
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
Erwin Coumans
c556ad651d expose pybullet 'enableConeFriction' to switch between pyramid and cone friction model. 2017-12-01 10:07:07 -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
7524e37124 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-10-25 08:15:14 -07:00
erwincoumans
ed8de36ffa pybullet: allow to replace existing text, to avoid flickering (remove/add) 
allow texture caching (disable using the disable file caching)
 2017-10-25 08:15:01 -07:00
erwincoumans
28ea41bfe6 Merge pull request #1393 from YunfeiBai/master 
Expose IK solver options: DLS and SDLS.
 2017-10-20 13:22:56 -07:00
yunfeibai
dda1b05f4a Expose IK solver options including DLS and SDLS. 2017-10-19 14:00:53 -07:00
Erwin Coumans
c178c101a8 fix the pybullet.changeDynamics linear/angular damping 
expose pybullet.getConstraintState
 2017-10-18 19:15:35 -07:00
erwincoumans
cec8da3d85 Implement first draft of pybullet.createVisualShape and add createVisualShape.py example 
add normals to duck.obj for nicer appearance
fix plane100.urdf (so collision shape matches visual shape size)
 2017-10-07 18:50:23 -07:00
erwincoumans
822ff077c7 expose some parameters through pybullet.getPhysicsEngineParameters (C-API: b3InitRequestPhysicsParamCommand + b3GetStatusPhysicsSimulationParameters) 2017-10-05 11:43:14 -07:00
erwincoumans
9303891468 Allow to configure Y=up, default is Z=up, using pybullet.configureDebugVisualizer(COV_ENABLE_Y_AXIS_UP,0/1) 
Implement pybullet.getConnectionInfo, returns [isConnected, connectionMethod], where isConnected=0 or 1
 2017-10-05 09:02:33 -07:00
erwincoumans
a2d6a2e822 Merge pull request #1350 from bingjeff/add_mass_matrix 
[pybullet] Add calculateMassMatrix.
 2017-10-05 07:45:30 -07:00
Erwin Coumans
acbe457d31 add option to statically link a plugin, select the postFix (to avoid naming conflict of multiple plugins functions ('initPlugin' becomes initPlugin_postFix) 
pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents'
 2017-10-03 15:00:52 -07:00
Jeffrey Bingham
7dfed65287 Add calculateMass to shared memory interface. 2017-09-30 13:39:11 -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
b1f8eb74a4 bump up shared memory version number 
add option to recompute forward kinematics, to be consistent with link velocities in pybullet.getLinkState (..., computeForwardKinematics=0/1), thanks to Jeff Bingham for bringing up this inconsistency
 2017-09-26 10:05:17 -07:00
Erwin Coumans
d3d1b51c3a fix compile warnings 2017-09-24 23:26:06 -07:00
Erwin Coumans
70364445b8 Merge remote-tracking branch 'bp/master' 2017-09-24 09:49:53 -07:00
Jeffrey Bingham
1727e47beb [pybullet] Add calculateJacobian. 
* Add the calculateJacobian method to the pybullet API.
* Adjust the shared memory interface to handle fixed/floating bases
  in the calculateJacobian method.
* Fix a few comments.
 2017-09-23 19:58:59 -07:00
erwincoumans
8e496036c6 More work on the C/C++ plugin system for pybullet/C-API: 
Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand
 2017-09-23 18:05:23 -07:00
Erwin Coumans
3783dccaa3 create a C/C++ plugin system for pybullet / C-API. 2017-09-22 19:17:57 -07:00
Erwin Coumans
b9b1b2dbca add B3_SHARED_API to the remaining PhysicsClientC_API APIs 2017-09-21 16:40:19 -07:00
Erwin Coumans
176c2512de add B3_SHARED_API definition for Mac / Linux / gcc 2017-09-21 08:37:00 -07:00
erwincoumans
6a7efac4c3 Quick first prototype/test to integrate pybullet into Unity, 
see readme.txt for details.
 2017-09-20 23:18:18 -07:00
Erwin Coumans
7878f7ace9 Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake 
Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay))
Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
 2017-09-06 13:18:39 -07:00
erwincoumans
ee30479a28 add option to log joint torques (due to user applied torques and/or motor torques) 
See quadruped.py for an example:
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
Thanks to JulianYG, in pull request https://github.com/bulletphysics/bullet3/pull/1273
 2017-08-30 19:41:15 -07:00
Erwin Coumans
1569f3845c more fixes in pybullet_gym envs/data. 
implement pybullet.setAdditionalSearchPath
 2017-08-27 19:34:00 -07:00
Erwin Coumans
aafaa7e33e Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations. 
Fix two_cubes.sdf (was lacking collision shape for second cube)
 2017-08-14 14:59:41 -07:00
Erwin Coumans
88897cc744 implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added) 
See also examples\pybullet\examples\changeTexture.py
 2017-06-30 19:11:43 -07:00
Erwin Coumans
dd3d55610b fixes in pybullet.loadTexture, changeVisualShape replacing texture. 
(also works for OpenGL3 renderer now)
 2017-06-30 13:35:07 -07:00
Erwin Coumans
65e22ba3e9 allow auxilary link to be used for gear btMultiBodyGearConstraint. 2017-06-23 20:24:04 -07:00
Erwin Coumans
61f27a5c72 also add baseInertialFramePositionObj and baseInertialFrameOrientationObj to pybullet.createMultiBody 
updated createMultiBodyLinks.py example.
 2017-06-19 17:13:20 -07:00
Erwin Coumans
7441515c0e Preliminary version of pybullet.createMultiBody including links connected to parent by a joint. 
See createMultiBodyLinks.py example.
 2017-06-19 13:15:05 -07:00
Erwin Coumans
f3c11b6f31 add capsule, cylinder, plane, mesh support for pybullet.createCollisionShape 
preparation to add links to pybullet.createMultiBody
 2017-06-19 10:14:26 -07:00
Erwin Coumans
2e6f8c271e allow to disable/enable default keyboard shortcuts ('w', 'd' 's' etc) and default mouse picking 
pybullet.getMouseEvents / b3RequestMouseEventsCommandInit
 2017-06-17 13:29:14 -07:00
Erwin Coumans
23b155a2b4 add getAABB.py example. 
fix getAABB / b3RequestCollisionInfoCommandInit to use less stack memory
 2017-06-16 18:10:10 -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
60e3887456 enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies. 
See examples\pybullet\examples\mimicJointConstraint.py
 2017-06-07 13:44:34 -07:00
Erwin Coumans
d08f3e5f91 expose pybullet non-contact erp, friction erp and frictionAnchor, b3PhysicsParamSetDefaultNonContactERP / b3PhysicsParamSetDefaultFrictionERP / b3ChangeDynamicsInfoSetFrictionAnchor 2017-06-07 09:37:28 -07:00