yunfeibai
1841a41f2a
Add pybullet example for resetting dynamics.
2017-05-03 21:30:42 -07:00
yunfeibai
c7e9a31898
Add API to get user constraint id.
2017-05-03 18:25:25 -07:00
yunfeibai
4da2c076a7
Add API to reset mass.
2017-05-01 22:18:54 -07:00
Erwin Coumans
e8c1602232
add vrhand for vive tracker
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tweak 'saveWorld' feature a bit (mjcf, gui fallback if shared memory server is not available)
2017-04-21 10:28:20 -07:00
erwincoumans
5b789ed67b
reduce max ray hits to 256
2017-04-19 12:06:26 -07:00
yunfeibai
a7068bb57a
Modify the link index when computing Jacobian. Add a test for end effector orientation IK. Inverse dynamics Jacobian uses zero-based indexing of bodies, not starting from -1 for base.
2017-04-17 16:54:45 -07:00
erwincoumans
ee753eef6f
Merge pull request #1073 from devnexen/build_fix_bsd
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build fix for BSD systems
2017-04-17 18:19:10 +00:00
Erwin Coumans
ad2099e107
address 2 issues pointed out by PVS-Studio:
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https://github.com/bulletphysics/bullet3/issues/1074
2017-04-17 10:01:44 -07:00
David Carlier
756568ad9c
build fix for BSD systems
2017-04-16 17:53:44 +01:00
Erwin Coumans
5158c1ae98
add python dumpLog.py utility to view log files created using 'startStateLogging'
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don't enable <CTRL> for hotkeys yet
add some more profile markers
log objectId and linkIndex as signed int ('i') and not unsigned int 'I'
fix issue in startStateLogging: number of parameters was wrong
2017-04-12 15:02:47 -07:00
Erwin Coumans
80e87d5ccb
re-create debug drawer after 'resetSimulation', also avoid memory leak after doing so.
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this fixes wireframe.
Also use <CTRL>+hotkey, to avoid conflicts with user-specified keyboard functions.
2017-04-11 16:03:07 -07:00
Erwin Coumans
bdf366b045
implement pybullet.getDebugVisualizerCamera, width, height, providing viewmatrix, projection matrix
2017-04-10 11:03:41 -07:00
Erwin Coumans
82b6bc8770
apply the deviceTypeFilter also to VR state logging.
2017-04-08 11:48:12 -07:00
erwincoumans
2e47310e76
fix enum (has to be power of 2, to allow combination of devices)
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add vrtracker.py
2017-04-08 10:37:32 -07:00
Erwin Coumans
440d445a02
also report VR events for HMD and generic tracked devices. Also expose those VR events to pybullet: expose a deviceTypeFilter, that defaults to VR_DEVICE_CONTROLLER
2017-04-07 22:53:36 -07:00
Erwin Coumans
82b576a390
fixed a bug that prevented kitchens/1.sdf to render properly (local scaling was double applied)
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disable some left-over clipping that was moved to another part of the code
2017-04-06 21:13:23 -07:00
Erwin Coumans
deb95c758b
TinyRenderer: implement triangle clipping against near-plane
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TinyRenderer: implement texture UV-repeat by default (instead of clamp(0,1))
2017-04-06 14:31:34 -07:00
erwincoumans
2e13531493
Merge pull request #1061 from erwincoumans/master
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Implement rayTestBatch. At the moment, it is still testing individual…
2017-04-06 04:56:49 +00:00
Erwin Coumans
6cbb00fd6b
Implement rayTestBatch. At the moment, it is still testing individual rays on the physics server. We can enable multi-threaded version later. At least the python + shared-memory IPC overhead will be much lower.
2017-04-05 15:21:26 -07:00
erwincoumans
ac91896025
Merge pull request #1054 from erwincoumans/master
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pybullet setup.py / pip support for Windows, Linux and Mac! just run 'pip install pybullet' and wait until all compiled (like numpy, it is mainly source, except for a few wheels Mac 2.7 and Win32 3.5). Expose URDF_USE_SELF_COLLISION flag.
2017-04-04 23:36:32 +00:00
Erwin Coumans
b095e1d917
expose pybullet.URDF_USE_SELF_COLLISION flag, experimental (likely doesn't work well for many URDF files)
2017-04-04 12:47:34 -07:00
yunfeibai
b168f53ed9
Rename body index to body unique id.
2017-04-04 10:38:25 -07:00
yunfeibai
1e91e78469
Add pybullet API for logging contacts.
2017-04-02 16:03:20 -07:00
yunfeibai
0d83667817
Add C API to log contact points.
2017-04-02 15:45:48 -07:00
yunfeibai
7c7d831767
Add contact point logger.
2017-04-02 15:09:40 -07:00
Erwin Coumans
9d05b46de2
expose width/height as ExampleBrowser options.
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suppress lack of 'site' support message in MJCF importer
suppress lack of 'plane' visual support in urdf/sdf import
getBodyName default to "" to avoid breaking cloudsim
expose bodyName when requesting body info (sdf/mjcf import)
pass optional "options" string to pybullet.connect method. this can be used for --opengl2 flag in GUI mode (or other flags)
2017-03-30 11:01:33 -07:00
erwincoumans
dae13eee7f
Merge pull request #1048 from erwincoumans/master
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expose linkIndexA/B as filter option in pybullet.getContactPoints
2017-03-29 18:19:23 -07:00
Erwin Coumans
711431db5c
first draft of VR controller state logging
2017-03-29 16:29:34 -07:00
yunfeibai
f062847038
Replace spaces with tabs.
2017-03-29 15:37:33 -07:00
yunfeibai
66a8685816
Merge remote-tracking branch 'upstream/master'
2017-03-29 15:06:15 -07:00
yunfeibai
64573c38e4
Remove getBodyName API.
2017-03-29 15:03:29 -07:00
yunfeibai
de3f91b64e
Get body name from getBodyInfo.
2017-03-29 14:56:05 -07:00
erwincoumans
0750d502a8
Merge pull request #1041 from olegklimov/master
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Random improvements (MJCF, error messages, gravity)
2017-03-29 09:12:48 -07:00
Erwin Coumans
fd2c0f58bc
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-03-27 17:25:40 -07:00
Oleg Klimov
77608154a3
MJCF: fix capsule length when given in size="", fix slider joint limits
2017-03-27 22:54:20 +03:00
Oleg Klimov
3048326add
C API: fix b3SetContactFilterLink() when using b3RequestContactPoint()
2017-03-27 22:54:20 +03:00
Oleg Klimov
634f4cfdbc
MJCF: support for angle units in <compile angle="...">, kill two stdout messages
2017-03-27 22:54:20 +03:00
Erwin Coumans
38ad1bfb89
revert to m_jointFriction (from m_jointFriction1)
2017-03-27 10:16:55 -07:00
Erwin Coumans
4911916937
Expose 'flags' option for loadURDF, to allow customization of the URDF loading process while maintaining backward compatibility.
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For example: URDF_USE_INERTIA_FROM_FILE flag. By default, URDF2Bullet will re-compute the inertia tensor based on mass and volume, because most URDF files have bogus Inertia values.
2017-03-27 08:30:20 -07:00
Erwin Coumans
7503418c72
Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure.
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Add several MSVC optimization flags to cmake.
Bump up VERSION because serialization format changed
Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo.
pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity
fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
2017-03-26 13:06:46 -07:00
Erwin Coumans
21d1827c9f
revert previous cmake copy->symlink (doesn't work on Windows)
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fix timing issues at small timestep, disable default linear damping for btMultiBody
2017-03-23 17:30:59 -07:00
yunfeibai
0a552c3ba1
Merge remote-tracking branch 'upstream/master'
2017-03-23 13:55:44 -07:00
yunfeibai
d717b1db84
Add the API to get the body name and pybullet example call.
2017-03-23 13:54:44 -07:00
Erwin Coumans
0a654c2d58
expose optional targetVelocity to pybullet.resetJointState
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add C-API: b3CreatePoseCommandSetJointVelocities and b3CreatePoseCommandSetJointVelocity
2017-03-23 10:29:16 -07:00
yunfeibai
50f0cfca9e
Add body name when loading urdf.
2017-03-23 10:16:39 -07:00
erwincoumans
a30b887595
Merge pull request #1025 from olegklimov/master
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URDF loader improvement 2
2017-03-21 17:12:22 -07:00
Oleg Klimov
80a0b51a1d
MJCF: fix cylinders in MJCF, also (possibly) fixes capsules in tiny renderer
2017-03-22 00:36:28 +03:00
Erwin Coumans
0b017b0f53
fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp)
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implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable.
PhysicsServer: properly restore old activation state after releasing picked object
btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
2017-03-20 10:58:07 -07:00
Oleg Klimov
41df15a464
MJCF: fix B3_PI, fix colors, fix capsule without 'fromto'
2017-03-19 00:19:04 +03:00
Oleg Klimov
e8da7bb6f8
URDF loader: fix MuJoCo xml load, also closes #993
2017-03-17 02:11:47 +03:00