erwin coumans
0936ae6600
expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world.
2016-09-27 12:13:45 -07:00
Erwin Coumans
e98fca1e5e
implement pybullet.getContactPointData(), two optional object unique ids as filter
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returns a pylist of contact points. Each point has the following data:
0 int m_contactFlags;//unused for now
1 int m_bodyUniqueIdA;
2 int m_bodyUniqueIdB;
3 int m_linkIndexA;
4 int m_linkIndexB;
5-6-7 double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
8-9-10 double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
11-12-13 double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
14 double m_contactDistance;//negative number is penetration, positive is distance.
15 double m_normalForce;
2016-09-01 18:28:39 -07:00
erwincoumans
85fd7f560c
add first draft of contact point query in shared memory API
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b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData);
Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet.
Add btCollisionObject::setUserIndex2
2016-09-01 13:30:07 -07:00
erwin coumans
62d5b7c5c0
add single step simulation, using 'o' key. use 'i' key to suspend simulation first
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default background color a bit darker, to show debug lines
tweaked contact point rendering a bit
2016-08-19 10:30:02 -07:00
Erwin Coumans
c75bebcafe
revert accidently renaming of m_depthvalues4
2016-08-12 13:55:37 -07:00
Erwin Coumans
3c30e2f821
add segmentation mask rendering to TinyRenderer and shared memory API
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similar to the zbuffer, but storing the object index (int) instead of float depth
2016-08-11 14:55:30 -07:00
Erwin Coumans
b880ddf76b
add pybullet render API with yaw/pitch/roll option
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add testrender.py file
allow option to enable OpenGL hardware renderer in multithreaded sim
b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
2016-08-08 14:23:44 -07:00
Erwin Coumans
95a09bec99
implement getJointInfo for objects loaded through SDF
2016-06-15 18:01:41 -07:00
Erwin Coumans
456c844a6b
work-in-progress send object/joint information after loading SDF file
2016-06-14 18:41:19 -07:00
Erwin Coumans
d2e50d045b
fix issues related to camera width/height
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add width,height as arguments to pybullet.renderImage(x,y,[viewMat4x4],[projMat4x4])
2016-06-07 16:11:58 -07:00
erwin coumans
4b2c0f6d89
make one of the cubes in two_cubes.sdf static (immovable) using the <static> tag in SDF
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add an example using 'direct'
fix the send-desired-state commands, to add flags for arguments set, using default values.
Start exposing SDF loading in shared memory api, not fully implemented yet.
2016-06-03 19:03:56 -07:00
erwin coumans
14aa666c6f
preparation to receive camera image data from physics server
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increase shadowmap world size default to 50 units (meter), 10 units (meter) was too small for most examples.
2016-05-31 10:23:04 -07:00
erwincoumans
03bf78ef49
add physics server loopback (both client and server in the same process, using shared memory)
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add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
2015-11-22 20:50:32 -08:00
