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
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
Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
When running the Example Browser with Basic Example, 'visual leak detector' show no leak.
Many other individual examples still leak, so it is work-in-progress.
Disabled the profiler window (too many leaks)
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
See bullet3/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
Give the kuka_iiwa/model.urdf some blue color, not just orange, to mimick the original a bit better
Preparation for the CMD_CAMERA_IMAGE_COMPLETED command, to expose a virtual camera to the robotics API
