1) allow to render deformables in 'getCameraImage', for TinyRenderer (tested OK) and EGL (untested)
2) allow to have textures for deformables. See deformable_ball.py, deformable_anchor.py and deformable_torus.py for examples
3) deformables: allow to request simulation mesh data (even if there is a render mesh) See deformable_anchor.py for an example usage
data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH)
4) fix deletion of deformables, thanks to Fychuyan, https://github.com/bulletphysics/bullet3/pull/3048
5) allow to enable and disable double-sided rendering, p.changeVisualShape(objectUid, linkIndex, flags=p.VISUAL_SHAPE_DOUBLE_SIDED)
6) fix GripperGraspExample, model not found
7) Fix deformable anchor not attaching to multibody with object unique id of 0
8) Fix issue with assignment of unique ids in TinyRenderer/EGL renderer (always use broadphase uid)
9) Avoid crash/issue of simulation with pinned vertices (mass 0) in btDeformableBackwardEulerObjective::applyExplicitForce
10) Store uv/normal in btSoftBody::RenderNode to allow textured meshes
11) (uncomment in btSoftBodyHelpers.cpp): dump vertices and indices in obj wavefront format, when loading a VTK file, for quicker creation of a (textured) surface mesh
12) allow interpolateRenderMesh also for old position-based soft bodies (not only the shiny new FEM deformables)
13) fix a few premake targets
14) update build_visual_studio_vr_pybullet_double_cmake.bat so it suits c:\python37 and installs locally
for local install of Bullet, see also this example https://github.com/erwincoumans/hello_bullet_cmake
Excluded `examples/pybullet/gym/pybullet_data/` which has many (3000+)
CRLF data files (obj, mtl, urdf), and `docs/pybullet_quickstart_guide`
which has generated .js and .htm files with CRLF line endings too.
A fileIO plugin can override custom file IO operations. As a small test, load files from a zipfile in memory.
Default fileIO implementation is in examples/Utils/b3BulletDefaultFileIO.h
Affects URDF, SDF, MJCF, Wavefront OBJ, STL, DAE, images.
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
- fixing various race conditions throughout (usage of static vars, etc)
- addition of a few lightweight mutexes (which are compiled out by default)
- slight code rearrangement in discreteDynamicsWorld to facilitate multithreading
- PoolAllocator::allocate() can now be called when pool is full without
crashing (null pointer returned)
- PoolAllocator allocate and freeMemory, are OPTIONALLY threadsafe
(default is un-threadsafe)
- CollisionDispatcher no longer checks if the pool allocator is full
before calling allocate(), instead it just calls allocate() and
checks if the return is null -- this avoids a race condition
- SequentialImpulseConstraintSolver OPTIONALLY uses different logic in
getOrInitSolverBody() to avoid a race condition with kinematic bodies
- addition of 2 classes which together allow simulation islands to be run
in parallel:
- btSimulationIslandManagerMt
- btDiscreteDynamicsWorldMt
- MultiThreadedDemo example in the example browser demonstrating use of
OpenMP, Microsoft PPL, and Intel TBB
- use multithreading for other demos
- benchmark demo: add parallel raycasting
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Parameters such as btVector3/btQuaternion need to be passed as const reference, not by value (it causes SIMD alignnment errors on Windows).
------------------------------------------------
The slider applies the selected displacement force according to the chosen scalar and falls back to zero when moved below an absolute value of 0.2.
add test for VR HUD/sub-titles
fix issue in previous commit, partial string use %.8s not %8.s
use long long int in b3Clock
fix warning/error in pointer alignment in serialization
Fix pybullet Windows compilation.
(thanks to bkeys/https://github.com/bulletphysics/bullet3/pull/687)
in a nutshell, add the following two files:
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
examples/ThirdPartyLibs/stb_image/stb_image.cpp
it works without OpenGL dependency now, so it runs in the cloud :-)
Add scaling support for TinyRenderer, remove some un-used normal mapping in TinyRenderer shader, expose light_dir_world,
remove accidental hard-coded path in tga write_tga_file,
Fix InverseDynamicsExampleCreateFunc, enum has to start at 0
Summary of changes:
1) Changed include paths to be relative to the current sources (affected
files: LoadMeshFromObj.cpp, Wavefront2GLInstanceGraphicsShape.h/cpp)
2) Added new tutorials in the ExtendedTutorials folder
3) Modified the main_opengl_single_example.cpp file to enable picking
support in standalone demos
