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Author SHA1 Message Date
Xuchen Han
233a381e7c add correct impulse matrix to multibody-deformable contact 2019-08-02 13:15:00 -07:00
Xuchen Han
243b9fc8c7 combat friction drift in positionCorrect by changing velocity and change it back (effectively only changing position) 2019-08-02 13:14:15 -07:00
Xuchen Han
a90cad2a96 deformable code refactor 2019-08-02 13:13:21 -07:00
Xuchen Han
dc10336d45 code clean up + check in examples 2019-08-02 13:12:59 -07:00
Xuchen Han
3430192db7 reformulate friction 2019-08-02 13:12:51 -07:00
Xuchen Han
7846dd38dd switch explicit elastic force 2019-08-02 13:12:51 -07:00
Xuchen Han
2fc376e8f5 bug fix in friction; accumulate friction impulses in cg; forbid switching from static to dynamic friction 2019-08-02 13:12:51 -07:00
Xuchen Han
befab4eab6 reorganize the contact constraints 2019-08-02 13:12:51 -07:00
Xuchen Han
bac7d461c5 fix bugs in poststablize and projection of colinear constraints 2019-08-02 13:12:51 -07:00
Xuchen Han
ac628f4d39 add two way coupled penetration resolution; not momentum conserving, but seem to work fine 2019-08-02 13:12:42 -07:00
Xuchen Han
98cd9a85e4 generalize preconditioner, now supports mass preconditioning 2019-08-02 13:12:41 -07:00
Xuchen Han
696c96f392 bug fix in projection; start friction 2019-08-02 13:12:41 -07:00
Xuchen Han
4e5f4b9fe9 reformulate how constraints are managed in the projection class 2019-08-02 13:12:41 -07:00
Xuchen Han
b28f1fdac3 add support for more than one constraint for a single deformable node 2019-08-02 13:12:41 -07:00
Xuchen Han
b7e512a5f9 sync gravity with substeps 2019-08-02 13:12:41 -07:00
Xuchen Han
77d670ae41 separate external force solve from constraint solve and eliminate damping in external force solve 2019-08-02 13:12:41 -07:00
Xuchen Han
c4e316f005 btDeformableRigidWorld now inherits from btMultiBodyDynamicsWorld instead of btSoftRigidDynamicsWorld 2019-08-02 13:12:41 -07:00
Xuchen Han
13d4e1cc2b bug fixes in constraints projections; cpplized various functions 2019-08-02 13:12:41 -07:00
Xuchen Han
786b0436ec fixed gravity issue in rigid body and deformable body contact solve 2019-08-02 13:12:27 -07:00
Xuchen Han
b8997c36b2 update contact projection 2019-08-02 13:10:56 -07:00
Xuchen Han
35ce2ae0e2 add contact constraint as projections in CG 2019-08-02 13:10:56 -07:00
Xuchen Han
32836b0694 set up deformable world and solver (does not support contact or friction yet) 2019-08-02 13:10:17 -07:00
erwincoumans
3ac4959e95
Update DeepMimic_Optimizer.py 2019-08-02 07:08:51 -07:00
erwincoumans
4a4c807381
Update DeepMimic_Optimizer.py 
remove timing
 2019-08-01 21:24:28 -07:00
erwincoumans
5cd1695acb
Merge pull request #2350 from erwincoumans/master 
improved for inserting profile timings from Python, to analyzer performance
 2019-08-01 21:22:27 -07:00
Erwin Coumans
6d844e5df1 pybullet: more detailed nested timings 2019-08-01 19:15:02 -07:00
Erwin Coumans
7263439c4b improved for inserting profile timings from Python, to analyzer performance of pybullet programs. 
See examples/pybullet/examples/profileTiming.py for an example. Note that python and c++ is properly interleaved.
Open a timings with a name, close the timing without a name. Note that timings can be recursive, added/popped as a stack.
 2019-08-01 19:12:16 -07:00
erwincoumans
14cc0ec2ee
Merge pull request #2346 from erwincoumans/master 
add texture support for cube, when using createCollisionShape(GEOM_BOX)
 2019-07-31 18:49:37 -07:00
Erwin Coumans
397767cb60 Merge remote-tracking branch 'bp/master' 2019-07-31 17:54:29 -07:00
Erwin Coumans
10153b3b3a add texture support for cube, when using createCollisionShape(GEOM_BOX) 2019-07-31 14:49:49 -07:00
erwincoumans
789769eac9
Update BulletMJCFImporter.cpp 
add default for unhandled geoms
 2019-07-31 09:18:38 -07:00
erwincoumans
a8e1be3b33
Update TinyRenderer.cpp 
create a cube using x,y,z not x,y,y
 2019-07-30 17:48:59 -07:00
erwincoumans
1feb186204
Update PhysicsClientC_API.cpp 
use B3_PI definition
 2019-07-30 17:43:24 -07:00
erwincoumans
d0880a78d5
Merge pull request #2343 from erwincoumans/master 
expose heightfield to pybullet, add pybullet_envs.deep_mimic pretrained humanoid3d policies
 2019-07-30 09:07:02 -07:00
Erwin Coumans
4429c6dc9e avoid Mac OSX bus error -> no large static arrays 2019-07-29 22:20:45 -07:00
Erwin Coumans
38d56a42de Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-29 20:29:29 -07:00
Erwin Coumans
d58a85fec4 export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) 
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
 2019-07-29 20:29:07 -07:00
Erwin Coumans
51fba6f78d export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) 
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
 2019-07-29 20:23:38 -07:00
Erwin Coumans
4bb5d07e3e pybullet_envs.deep_mimic: add pretrained spinkick model (only trained for 20 million steps, may need more for nicer mimic) 2019-07-29 08:22:57 -07:00
Erwin Coumans
cc2d15cd89 pybullet_envs.deep_mimic add pretrained jump weights 2019-07-29 08:11:15 -07:00
Erwin Coumans
3ba34f45b7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-28 18:13:48 -07:00
Erwin Coumans
020e569ece pybullet_envs.deep_mimic add pretrained crawl policy 2019-07-28 18:01:37 -07:00
Erwin Coumans
09bea429f7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-07-28 17:24:37 -07:00
Erwin Coumans
1e21000d07 pybullet_envs.deep_mimic: update humanoid3d_cartwheel pretrained policy 2019-07-28 17:23:54 -07:00
Erwin Coumans
45c393e86e Merge remote-tracking branch 'bp/master' 2019-07-27 10:25:31 -07:00
erwincoumans
d2665d3d80
Merge pull request #2305 from BartMoyaers/parse_contact_bodies 
parse fall contact bodies
 2019-07-27 10:09:36 -07:00
Erwin Coumans
36f3adc03f copy/move heightfield files around (part of pybullet_data) 
prepare for heightfield support in pybullet (first step, needs a bit more)
 2019-07-25 13:01:26 -07:00
erwincoumans
c65ce8059f
Merge pull request #2337 from erwincoumans/master 
fix rotational friction between btMultiBody and btRigidBody
 2019-07-25 07:59:42 -07:00
Erwin Coumans
3eedb2a6f2 fix rotational friction between btMultiBody and btRigidBody 2019-07-24 22:07:16 -07:00
erwincoumans
e96f068220
Merge pull request #2335 from erwincoumans/master 
fixes for pybullet_envs.deep_mimic and  add example loading heightfield from image and csv
 2019-07-23 18:16:13 -07:00