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6,143 Commits 19 Branches 27 Tags 326 MiB
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Commit Graph

727 Commits

Author SHA1 Message Date
erwincoumans
a92423b6f7 minor clarification in UrdfRenderingInterface 2018-01-21 11:15:35 -08:00
erwincoumans
3073d60845
Update tinyRendererPlugin.cpp 2018-01-17 12:53:00 -08:00
erwincoumans
585f858842 PyBullet: bump up API version due to move of tinyrenderer into a plugin 2018-01-17 12:51:19 -08:00
erwincoumans
329a1f5a74 PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin. 2018-01-17 12:48:48 -08:00
erwincoumans
df89ce6f92 small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin. 2018-01-16 17:58:19 -08:00
erwincoumans
32d615565d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-16 13:39:54 -08:00
erwincoumans
68c2253f82 reduce dependency: PhysicsServerCommandProcessor -> PhysicsCommandProcessorInterface 2018-01-16 13:39:37 -08:00
Erwin Coumans
af43e6465d fix wrong enum type 2018-01-15 15:13:11 -08:00
erwincoumans
9ffb05eb3b fix double->float issue by cast, fixes issue #1510 
fix possible out-of-bounds access in btMultiBody
 2018-01-15 11:59:00 -08:00
erwincoumans
9d405fde67 PyBullet: free cached textures 
PyBullet: bool PhysicsServerCommandProcessor::pickBody, disable collision filtering to allow picking of all objects
 2018-01-15 08:36:08 -08:00
erwincoumans
3c770e56fb PyBullet/C-API: only free handle if we found it 2018-01-14 12:35:40 -08:00
erwincoumans
0919ce0f30 PyBullet: fix issue when picking an object while it is remove using PyBullet.removeBody 2018-01-14 11:01:57 -08:00
Erwin Coumans
79051b7611 allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE 
fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
 2018-01-11 21:04:08 -08:00
erwincoumans
22b4809891 leave m_useGlobalVelocities to false, until enabled, for backward compatibility 
use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
 2018-01-10 11:16:50 -08:00
erwincoumans
c4b1b84687 Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis 
https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section)
Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
 2018-01-09 22:47:56 -08:00
erwincoumans
15a429f1bf premake build system fixes 2018-01-09 12:23:25 -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
Erwin Coumans
e97b751781 further work on urdfEditor.py, fix some serialization issues 2018-01-08 12:25:56 -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
yunfeibai
e3e9546960 Load the deformable object through obj file. Modify the demo for two way coupling between multibody and softbody. 2018-01-07 19:06:09 -08:00
Erwin Coumans
a85a4f387b more work on UrdfEditor.py 2018-01-06 15:00:20 -08:00
Erwin Coumans
9523df2519 warning fix (param name different in header/cpp) 2018-01-04 15:48:59 -08:00
Erwin Coumans
c59a3763e5 tweak ImportMJCFSetup.cpp example MJCF humanoid a bit, clamp target positions to be within joint limits to avoid solver problems (conflicting constraints) 
add humanoid_manual_control.py PyBullet example which is similar to ImportMJCFSetup.cpp
 2018-01-04 13:14:11 -08:00
Erwin Coumans
36c258fd3d fix PhysicsLoopBack 2018-01-03 21:38:09 -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
35b44f8a85 implement pybullet.saveState command, for in-memory storage of state. 
bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010
 2017-12-31 15:37:16 -08:00
Erwin Coumans
9c55b61315 pybullet.createVisualShape: process sphere radius, box half extents, capsule+cylinder radius/length 
fixes issue #1427, https://github.com/bulletphysics/bullet3/issues/1427
 2017-12-30 17:42:13 -08:00
Erwin Coumans
0326fa93a8 made some progress in saving and restoring the state during the simulation, with identical results. 
Option to de/serialize btPersistentContactManifolds and fix lossy conversion during btMultiBody de/serialization of base world transform
(serialize the quaternion, not the converted 3x3 matrix)
There are still several caches not taken into account, and btMultiBody links/constraints are not deserialized yet etc.
See examples\pybullet\examples\saveRestoreState.py for an example.
 2017-12-30 14:19:13 -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
afd1066c50 pybullet.getCameraImage: preparation to expose link index in segmentation mask buffer 2017-12-28 10:18:35 -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
Erwin Coumans
799d030874 restore multibody world transform and joint angles/velocities from a .bullet file. 2017-12-22 14:45:36 -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
erwincoumans
eb35cba740 expose local inertia diagonal in C-API, PyBullet, through the 'getDynamicsInfo' 
render the inertia boxes in examples/pybullet/examples/quadruped.py and examples/pybullet/examples/reset_dynamic_info.py
fix an issue where the original margin (0.04) was used to compute the inertia, instead of latest margin
 2017-12-20 14:54:32 -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
8ff75e11cd fixes related to torsional friction, due to recent cone friction update. 2017-11-28 20:09:56 -08:00
erwincoumans
29aa9cb789 Bullet bump up to version 2.88 
add preliminary support to import btMultiBody from a .bullet file (will help save/restore state)
fix some Windows char/widechar issues
 2017-11-22 18:12:02 -08:00
erwincoumans
76772fd301 reduce stack usage 2017-11-22 15:30:56 -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
Erwin Coumans
3e17f3387a reduce MAX_SDF_BODIES to 512, it causes stack overflow failures in some internal tests 2017-11-20 11:05:31 -08:00
Erwin Coumans
88289c032e fix canvas issues from previous commit 2017-11-18 17:20:21 -08:00
erwincoumans
099a6f65f3 tweak zbuffer visualization, show targetpos in example browser 2017-11-18 15:18:46 -08:00
erwincoumans
81146a4090 pybullet: move RGB,depth, segmentation mask preview windows to the right 
remove some dead code from PhysicsServerCommandProcessor.cpp
 2017-11-18 13:21:20 -08:00
erwincoumans
b2a1eeb754 Merge remote-tracking branch 'bp/master' 2017-11-17 16:21:09 -08:00
erwincoumans
a9b59b4511 Finally refactored the PhysicsServerCommandProcessor::processCommand switch statements into over 50 separate functions. 
Over time, some of those functions can be moved into separate plugins, similar to vrSyncPlugin (either statically/dynamically linked plugins or dynamically loaded at run-time)
 2017-11-17 16:14:18 -08:00
erwincoumans
848be4710e
Merge pull request #1440 from erwincoumans/master 
remove obsolete 'register' from BussIK
 2017-11-17 14:13:16 -08:00
erwincoumans
e2d29d4048 also enable depth and segmentation mask preview window in example browser/pybullet 
You can disable/enable all preview windows using:

p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW,0/1)
p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW,0/1)
p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MASK_PREVIEW,0/1)
 2017-11-17 13:33:27 -08:00
erwincoumans
f31f552ee3
Merge pull request #1439 from mbreyer/bugfix-TinyRenderer 
Fix wrong depth values returned by TinyRenderer
 2017-11-17 09:39:55 -08:00