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Commit Graph

7085 Commits

Author SHA1 Message Date
erwincoumans
101429e6a3
Merge pull request from gsp-27/gsp-27-patch-1
Added code for issue 
2019-01-04 07:56:14 -08:00
erwincoumans
32282fece0
Merge pull request from crashcover/NUM_USER_COLLISION_SHAPES
initialize m_numUserCollisionShapes correctly for b3InitRemoveBodyCom…
2019-01-04 07:55:26 -08:00
erwincoumans
93a6846931
Merge pull request from erwincoumans/master
Increase mesh allocation for vertices/indices in PyBullet.createColli…
2019-01-04 07:52:32 -08:00
Andreas Daeubler
0fe086cca2 initialize m_numUserCollisionShapes correctly for b3InitRemoveBodyCommand 2019-01-04 08:42:47 +01:00
Erwin Coumans
0963eb3597 malloc -> new 2019-01-03 17:41:21 -08:00
Erwin Coumans
19aafd5221 PyBullet: handle the switch from fixed base to floating base when changing mass from zero to non-zero 2019-01-03 17:35:12 -08:00
Erwin Coumans
bf9efffa4b Increase mesh allocation for vertices/indices in PyBullet.createCollisionShape
See createMesh.py for an example.

The data has to fit in shared memory, hence the limit on Mac is lower than Windows and Linux:

#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif
2019-01-03 16:19:28 -08:00
gaurav pathak
7f73081a89
Added code for issue
Made necessary changes to ```humanoid_deep_mimic_env.py``` file, setting ```initial_frame``` to new position after simulation steps and setting ```SimTime``` using this new initial frame time
2019-01-03 18:17:08 -05:00
erwincoumans
126b676220
Merge pull request from erwincoumans/master
Cleaning up the issue tracked with old/out-of-date/issues that haven't been addressed for too long.
2018-12-31 12:42:41 -08:00
Erwin Coumans
21d9465d94 update premake5.exe (note we still use premake4.exe by default) 2018-12-22 17:55:50 -08:00
Erwin Coumans
83213da154 applied patch for Issue 68
// Ensure that gContactProcessedCallback is called for concave shapes.
        if (getLastManifold())
            m_resultOut->refreshContactPoints();
2018-12-22 17:06:57 -08:00
Erwin Coumans
e5fb1aa1d5 apply improvement, to allow btCompoundShape per-shape collision filtering
Fixes old issue 67
2018-12-22 17:02:58 -08:00
Erwin Coumans
6661b1ac71 internalApplyImpulse already applies the getLinearFactor, fixes Issue 71 2018-12-22 16:53:52 -08:00
Erwin Coumans
44f8064855 Fix Issue 61 related to character controller,
see 6cb832140d
2018-12-22 16:44:36 -08:00
Erwin Coumans
7740162ad8 apply gimpact versus rotated plane issue,thanks to @cameronwhite
see bd8bd11929
Fixes Issue 69
2018-12-22 16:38:40 -08:00
erwincoumans
8bc1c8e01b
Merge pull request from erwincoumans/master
some fixes in inverse dynamics, PyBullet example comparing explicit pd, stable pd control, position control (constraint)
2018-12-22 16:17:26 -08:00
erwincoumans
d477d18ad6 Expose subsimplexcast max iterations/epsilon
Note that for best quality, always use BT_USE_DOUBLE_PRECISION
This fixes Issue 34
https://github.com/bulletphysics/bullet3/issues/34
2018-12-22 12:44:29 -08:00
erwincoumans
5e08808e69 Fix issue 1883, OpenGL 2.x doesn't have glGenerateMipmap 2018-12-22 11:42:29 -08:00
erwincoumans
fb2baa81d6 only use the mutex if using BT_THREADSAFE 2018-12-22 11:35:56 -08:00
erwincoumans
63ac2182ae fix degerenate case in btHingeConstraint, see Issue 2031
https://github.com/bulletphysics/bullet3/issues/2031
2018-12-22 11:19:15 -08:00
erwincoumans
875a5f6b0e append m_, fixes Issue 402 2018-12-22 11:07:08 -08:00
erwincoumans
7ce9ad23fb Use safeNormalize, in case a both objects have identical origin.
Fixes Issue 2021
2018-12-22 10:59:00 -08:00
erwincoumans
9c4136da16 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-12-19 20:15:40 -08:00
erwincoumans
8e8c3fb315 few fixes in inverse dynamics 2018-12-19 20:15:30 -08:00
erwincoumans
78de1f070f add example comparing explicit PD control (Python), explicit PD control (plugin), position constraint and stable PD control (Python) 2018-12-19 20:12:19 -08:00
erwincoumans
4a66d6c80b
Merge pull request from
Fix for 
2018-12-04 12:14:57 -08:00
erwincoumans
a7c6c8f3a9
Merge pull request from erwincoumans/master
PyBullet: fix some file leaks
2018-12-04 12:07:21 -08:00
Erwin Coumans
74223ced56 disable per-thread tsan issue, todo: checkout why it fails 2018-12-04 20:00:05 +01:00
Erwin Coumans
e3c03401c8 PyBullet: fixed a few more file leaks 2018-12-04 19:58:24 +01:00
Erwin Coumans
d4db50f668 PyBullet: fix some file leaks. 2018-12-04 19:37:25 +01:00
a
9160d0aee1 Tangential velocity is now added to the linear velocity when the current velocity is calculated for the calculation of the damping force in btGeneric6DofSpring2Constraint.
Better mass estimation while calculating spring forces in btGeneric6DofSpring2Constraint.
BT_6DOF_FLAGS_USE_INFINITE_ERROR flag has been removed as it's no longer needed.
2018-12-01 12:19:18 +01:00
Erwin Coumans
a23cfd0782 bump up pybullet version to 2.4.0 2018-11-29 16:50:37 -08:00
erwincoumans
d9fd6bf134
Merge pull request from erwincoumans/master
allow textured cube/sphere from URDF 'box' and 'sphere' visual primit…
2018-11-29 16:49:42 -08:00
erwincoumans
69321a9ee6 allow textured cube/sphere from URDF 'box' and 'sphere' visual primitive, when using
texUid = p.loadTexture("tex256.png")
p.changeVisualShape(cube ,-1, textureUniqueId = texUid)
See also https://github.com/bulletphysics/bullet3/issues/2012
2018-11-29 15:41:32 -08:00
erwincoumans
bce502f33c
Merge pull request from erwincoumans/master
ClangTidy
2018-11-28 17:19:48 -08:00
Erwin Coumans
2d07fc1f64 ClangTidy
clang-diagnostic-shift-sign-overflow
signed shift result (0x80000000) sets the sign bit of the shift expression's type ('int') and becomes negative
2018-11-28 15:40:20 -08:00
erwincoumans
1be34588a9
Merge pull request from erwincoumans/master
enable pybullet.calculateInverseDynamics for floating bodies
2018-11-28 14:37:26 -08:00
erwincoumans
dc642c6e65 fix previous commit related to dofcount in inverse dynamics 2018-11-27 19:38:19 -08:00
erwincoumans
49c8e738a4 propagate resultOut->m_closestPointDistanceThreshold properly for convex-convex (capsule, sphere) and convex vs plane 2018-11-27 17:31:18 -08:00
Erwin Coumans
ecfe8de506 first part of adding spherical joint support in BulletInverseDynamics 2018-11-27 16:30:58 -08:00
erwincoumans
192d27743a enable pybullet.calculateInverseDynamics for floating bodies
Using calculateInverseDynamics with zero target acceleration allows to compute the non-linear dynamics forces (coriolis/gyroscopic) and/or gravity force.
2018-11-27 08:49:56 -08:00
erwincoumans
554208c98d
Merge pull request from erwincoumans/master
DeepMimic using PyBullet (work-in-progress)
2018-11-26 14:44:08 -08:00
Erwin Coumans
2e30a9565b add humanoid_deepmimic_gym_env.py for HumanoidDeepMimicBulletEnv-v1 (still untested) 2018-11-25 15:33:28 -08:00
Erwin Coumans
fbfa13894b Merge remote-tracking branch 'bp/master' 2018-11-25 12:58:22 -08:00
erwincoumans
c41dc0bba2
Merge pull request from stolk/master
Show btHinge2 oscillation.
2018-11-24 14:46:12 -08:00
stolk
cec71341ad Optionally enable infinite constraint error. 2018-11-24 12:56:23 -08:00
erwincoumans
cf48697fcf PyBullet on Windows: disable harmless warning of not being able to connect to shared memory server. 2018-11-24 11:57:01 -08:00
erwincoumans
bb6f4fb17c improve the ARS implementation: add multiprocessing Gym environment stepping, add command-line parameters to resume a policy, --render, --movie, --steps, --env 2018-11-24 11:54:36 -08:00
erwincoumans
ca36a82c62 add deepmimic args file (for testing)
implement deepmimic reward function (only joint angles/velocities for now)
fix an out-of-date comment, related to contactPoint.m_lateralFrictionInitialized in btSequentialImpulseConstraintSolver.cpp
2018-11-23 18:32:23 -08:00
erwincoumans
ccbd6e5fb7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-11-23 18:01:45 -08:00