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1452cae641
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Erwin Coumans
1452cae641 * add textured models of ball.vtk (obj/mtl) and torus (obj/mtl) and cloth. 
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
 2020-09-12 01:03:04 -07:00
Erwin Coumans
f3b67e5849 pybullet bump up to 2.9.6 2020-09-09 09:52:18 -07:00
Erwin Coumans
c4bf0368bf Merge remote-tracking branch 'bp/master' 2020-09-09 09:51:52 -07:00
Erwin Coumans
0395b93470 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-09 09:51:43 -07:00
erwincoumans
c8c15860ce
Merge pull request #3042 from erwincoumans/master 
fix shadowmap /mipmap issue in previous commit, caused Mac OSX (and integrated GPUs) to become very slow
 2020-09-09 09:48:59 -07:00
Erwin Coumans
448dd1a244 Synchronize 'resetDebugVisualizeCamera' using GUI critical section instead of waiting for the render thread, to avoid slow-down 
Fixes issue https://github.com/bulletphysics/bullet3/issues/3045
 2020-09-09 09:45:38 -07:00
Erwin Coumans
ac72926c7d Merge remote-tracking branch 'bp/master' 2020-09-08 06:14:08 -07:00
Erwin Coumans
f876319c5a bump up PyBullet version (regression in GPU rendering on Mac) 2020-09-08 06:13:43 -07:00
Erwin Coumans
82f3d422de Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-08 06:13:26 -07:00
Erwin Coumans
79565adedd Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-08 13:05:03 -07:00
Erwin Coumans
1190a1901c fix mipmap rendering from previous commit, making Macbook really slow 2020-09-08 13:04:50 -07:00
erwincoumans
b44307a6ce
Merge pull request #3040 from erwincoumans/master 
PyBullet: enable mipmapping/anti-aliasing, allow to set the shadowmap intensity, ignore file:// in URI
 2020-09-07 20:03:25 -07:00
Erwin Coumans
07fc272971 Merge remote-tracking branch 'bp/master' 2020-09-07 19:40:49 -07:00
Erwin Coumans
c45b657039 bump up PyBullet version to 2.9.4 2020-09-07 19:40:19 -07:00
Erwin Coumans
3ba9f6c395 Add rudimentary Gazebo world parser, loading sdf files and shifting objects based on the world file pose. 
See an example here:
https://github.com/erwincoumans/aws-robomaker-racetrack-world
https://twitter.com/erwincoumans/status/1303084517263994880
 2020-09-07 17:30:34 -07:00
Erwin Coumans
ccdec68b1d expose shadowmap intensity to PyBullet API 2020-09-07 16:52:14 -07:00
Erwin Coumans
75351f3682 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-07 15:26:34 -07:00
Erwin Coumans
fc2378dda7 enable multisampling and mipmapping 
ignore file:// as well as model:// and package://
add newline as additional delimiter for COLLADA DAE loader
 2020-09-07 15:26:11 -07:00
erwincoumans
809dc0f5d3
Merge pull request #3036 from erwincoumans/master 
Add Ghost Robotics Spirit40 and Unitree A1 quadrupeds
 2020-09-04 15:50:11 -07:00
Erwin Coumans
edd57d0f3f bump up pybullet version 2020-09-04 15:45:51 -07:00
Erwin Coumans
07a2648123 Merge remote-tracking branch 'bp/master' 2020-09-04 15:44:13 -07:00
Erwin Coumans
caf671890a Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-04 14:22:21 -07:00
Erwin Coumans
67061cf98c update a1 urdf to match naming for our software 
update test a1.py script
 2020-09-04 14:21:53 -07:00
erwincoumans
3bf8ef91e7
Merge pull request #3035 from Steven89Liu/master 
fix the issue "Inconsistency between rayTest and rayTestBatch of pybu…
 2020-09-04 08:05:40 -07:00
Erwin Coumans
224eceb75b add test script for spirit40 2020-09-03 21:16:39 -07:00
Erwin Coumans
c4f4692b68 add xiURDF for Ghost Robotics Spirit40 and Unitree A1 quadruped 2020-09-03 17:30:07 -07:00
Steven
8a16ed5009 fix the issue "Inconsistency between rayTest and rayTestBatch of pybullet #2887" 
we should initialize these variables otherwise these will be random.
 2020-09-03 20:30:14 +08:00
Erwin Coumans
04dd935514 Merge remote-tracking branch 'bp/master' 2020-09-02 14:18:18 -07:00
Erwin Coumans
e7b9de3160 bump up version 2020-09-02 14:18:00 -07:00
Erwin Coumans
913dad4787 fix windows pip build 2020-09-02 02:33:30 -07:00
Erwin Coumans
5b4cf02e70 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-02 02:23:15 -07:00
Erwin Coumans
b63e15d15c fix example 2020-09-02 02:23:04 -07:00
erwincoumans
47b0259b97
Merge pull request #3030 from erwincoumans/master 
bump up pybullet version, fix win32 pip build
 2020-09-01 19:34:39 -07:00
erwincoumans
ce81073ac3
Merge pull request #3020 from fuchuyuan/fixsegfault 
Fixsegfault
 2020-09-01 16:54:16 -07:00
erwincoumans
8cc8bfc4ec
Merge pull request #3027 from bulletphysics/erwincoumans-patch-8 
Update .travis.yml
 2020-09-01 15:27:32 -07:00
erwincoumans
185ff8f0cc
Update .travis.yml 
trying to fix travis build issues, not finding Python.h in docker/XENIAL_GCC
 2020-09-01 14:08:24 -07:00
Erwin Coumans
cdeabea39b Merge remote-tracking branch 'bp/master' 2020-09-01 09:46:11 -07:00
Erwin Coumans
beefa31d6b bump up pybullet version 2020-09-01 09:44:32 -07:00
Erwin Coumans
2967f46269 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-01 09:34:13 -07:00
erwincoumans
8fab756efd
Merge pull request #3026 from erwincoumans/master 
PyBullet: fix cases where contact point objects are swapped, reported, attempt to fix travis python detection
 2020-09-01 09:29:03 -07:00
Erwin Coumans
6fe6da0dee Merge branch 'master' of github.com:erwincoumans/bullet3 2020-09-01 09:27:35 -07:00
Erwin Coumans
f9abae073b PyBullet: fix cases where contact point objects are swapped, reported here 
https://github.com/bulletphysics/bullet3/issues/3023
Thanks to ichumuh for the report and reproduction!
 2020-09-01 09:27:05 -07:00
erwincoumans
e79e44db6c
Merge pull request #3022 from erwincoumans/master 
trying to fix travis builds
 2020-08-31 18:58:57 -07:00
Erwin Coumans
6928887321 try to fix travis builds 2020-08-31 18:58:11 -07:00
erwincoumans
db9f989a66
Merge pull request #2938 from MomoDeve/patch-1 
applied const modifiers to some RigidBody getters
 2020-08-31 17:35:37 -07:00
DarkDefender
85a3cb0ed5
Add ability to get the original vertex index from the convex hull (#3018) 
This makes it possible to know which input verticies were picked to
to define the hull.

With this information it is much easier to map certain features from the
input mesh/point cloud to the output convex hull.
 2020-08-31 15:05:27 -07:00
erwincoumans
bb1da5b5f5
try to fix travis, update inertia for Laikago, reset camera at the right time (#3021) 
* laikago_toes_zup.urdf: fill in inertia values, computed as PyBullet does internally (from mass and collision volumes)

* reset camera in the rendering thread to avoid artifacts

* reset camera in the rendering thread to avoid artifacts

* try to fix travis error
 2020-08-31 13:35:03 -07:00
Erwin Coumans
f0352ee692 try to fix travis error 2020-08-31 20:33:38 +00:00
Chuyuan Fu
25f62e853c add and remove deformable object example 2020-08-31 11:38:38 -07:00
erwincoumans
0ebc43b21e
Update deep_mimic_env.py 
fix errors
 2020-08-31 11:36:15 -07:00