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7,722 Commits 19 Branches 27 Tags 326 MiB
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Commit Graph

406 Commits

Author SHA1 Message Date
Erwin Coumans
b86bf6c571 remove BlockSolver/* 2019-09-11 10:20:37 -07:00
Erwin Coumans
25c61a40b5 remove BlockSolver/* 2019-09-11 10:19:43 -07:00
Xuchen Han
b507fe77ca check in a good set of parameters for grasping deformable ball 2019-08-16 13:45:29 -07:00
Xuchen Han
27492887bf move files and update license 2019-08-16 13:45:08 -07:00
Xuchen Han
deb7c152c4 add corotated model to lagrangian forces 2019-08-16 13:45:05 -07:00
Xuchen Han
10e819db8e add grasping with joint motor example 2019-08-16 13:45:05 -07:00
Erwin Coumans
f09cefabe8 Merge remote-tracking branch 'bp/master' 2019-08-14 21:14:56 -07:00
erwincoumans
7fa70c3857
Merge pull request #2351 from xhan0619/Deformable 
Add deformable body world and solver
 2019-08-14 21:13:41 -07:00
Erwin Coumans
88d1788ee5 PyBullet: allow to update an existing heightfield shape 
Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default)
See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
 2019-08-14 21:06:10 -07:00
Erwin Coumans
f9b232b153 pybullet: allow programmatic creation of heightfield. See https://github.com/erwincoumans/bullet3/tree/master/examples/pybullet/examples/heightfield.py 
premake4: allow to build example browser without C++11, re-enable stable PD control plugin using --enable_stable_pd=True
 2019-08-11 13:59:24 -07:00
Xuchen Han
9a7e30d09f move deformable examples to a single folder and rename them; change license to google 2016 2019-08-08 15:00:55 -07:00
Xuchen Han
753b2d9f15 add new demos to CMakeList 2019-08-02 15:02:15 -07:00
Xuchen Han
8cc7cb59d7 clean up examples 2019-08-02 14:06:42 -07:00
Xuchen Han
233a381e7c add correct impulse matrix to multibody-deformable contact 2019-08-02 13:15:00 -07:00
Xuchen Han
dc10336d45 code clean up + check in examples 2019-08-02 13:12:59 -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
Erwin Coumans
10153b3b3a add texture support for cube, when using createCollisionShape(GEOM_BOX) 2019-07-31 14:49:49 -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
ebde9926a8 add example loading heightfield from image and csv, using assets from DeepLoco (thanks to Jason Peng) and 
from this Blender tutorial https://www.beamng.com/threads/tutorial-adding-heightmap-roads-using-blender.16356/
 2019-07-23 11:26:31 -07:00
Erwin Coumans
16542aa740 tweak Mini Cheetah URDF/MTL 
use /tmp/timings on Linux/Mac as default location to save profile timings (when you press 'p' in example browser)
fix in Graphics Server Example when rendering is disabled
 2019-06-19 12:07:26 -07:00
Erwin Coumans
e286fbd9f2 fixes for RemoteGUIHelper 2019-06-15 10:30:48 -07:00
Erwin Coumans
ee3680765e fixes for RemoteGUIHelper 2019-06-14 14:34:56 -07:00
Erwin Coumans
6160b52fd7 graphicsServer to workaround OpenGL issues on some servers. 2019-06-13 23:24:22 -07:00
Chuyuan Fu
3fb0a7c19b add set starting position and orientation to softbody 2019-05-01 16:56:40 -07:00
erwincoumans
f28fd91e4f add raycast accelerator for btHeightfieldTerrainShape, thanks to Marc Zylann, see https://github.com/bulletphysics/bullet3/pull/2062 
it can be disabled by setting the flag cb.m_flags |= btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator;
acceleration is disabled for z axis up.
add btHeightfieldTerrainShape example to example browser
 2019-04-15 21:55:29 -07:00
erwincoumans
4d3f2e5b17
Merge branch 'master' into SIblock 2019-03-27 16:18:36 -07:00
Erwin Coumans
4898887265 temporary disable experimental BulletRobotics examples 2019-03-26 15:07:55 -07:00
Chuyuan Fu
7aba1f9e8a Use two SI solvers as blocks in block solver. 
In the btBlockSolver we are experimenting with, we have SI for both multibody and rigid body. I'm currently replacing rigid body SI solver with two smaller SI solvers. The two examples provided by RigidBodyBoxes.h should have the same behavior.
 2019-03-25 14:41:58 -07:00
erwincoumans
28148eb1ed Merge remote-tracking branch 'bp/master' 2019-03-18 10:12:55 -07:00
Erwin Coumans
a0aa963e28 fix premake and cmake for ExampleBrowser 2019-03-15 04:04:51 +00:00
Erwin Coumans
150a6a0880 Qualify calls to certain functions from the cmath library. 2019-03-14 16:57:50 -07:00
Chuyuan Fu
1660957f75 Untrack Grasp box example for now. This example needs more adjustment. 
fix compile
 2019-03-07 17:10:16 -08:00
Chuyuan Fu
e818452494 Add grasp box example and fixjoint boxes example. 
tmp

gripper is working?

fix joint example
 2019-03-07 17:10:16 -08:00
Chuyuan Fu
9141caf67e Add joint limit example. 
The demo artifically exceeds joint limit due to numerical errors caused
by large ratio.
 2019-03-07 17:09:32 -08:00
Chuyuan Fu
5d60c274c4 Add an example of a stack of boxes of large mass ratio. The default 
solver cannot solve it effectively.
 2019-03-07 17:08:16 -08:00
erwincoumans
4d39b7caca
Merge pull request #2142 from fuchuyuan/fixedJoint 
Fixed joint
 2019-03-06 22:03:00 -08:00
erwincoumans
a9e350b0fb
Merge pull request #2141 from erwincoumans/blocksolver 
solver experiment
 2019-03-06 22:02:44 -08:00
Chuyuan Fu
8b5a238b2f Add boxes joint by fixed joint example\n Onlyp2p joint works 2019-03-06 13:47:49 -08:00
Erwin Coumans
3997ac2b61 fix issue with retina scale and picking in createVisualShape.py example 2019-03-02 12:08:25 -08:00
erwincoumans
36a9dcf368 remove src/BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.cpp and examples/ConstraintSolvers/* code 
revert changes to btMultiBodyConstraintSolver/btSequentialImpulseConstraintSolver related to btMultiBodyBlockConstraintSolver
 2019-02-27 17:10:17 -08:00
erwincoumans
d7e087de16 prepare small experiment with block solver 2019-02-26 23:27:05 -08:00
erwincoumans
c44471c38c preparation for block solver btRigidBody. 2019-02-26 20:24:15 -08:00
erwincoumans
ebc079c32c
Merge pull request #1902 from cloudwu/fixmingwbuild 
fix mingw build
 2019-02-26 10:20:06 -08:00
erwincoumans
85ee4c2934 allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example. 
expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals.
allow a maximum of 128k objects
fix meshScale for PyBullet.createCollisionShape for custom mesh
expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
 2019-02-12 10:36:01 -08:00
erwincoumans
b574a360f5
Merge pull request #2055 from xantares/pybullet 
Pybullet enhancements
 2019-02-10 20:25:47 -08:00
erwincoumans
014c68388e fix createVisualShape.py ray vertical/horizontal and retina scale, fixes Issue 2085 
fix memory leak in removeBody, fixes issue 2086
 2019-01-30 15:29:43 -08:00
Erwin Coumans
0e4d6b0376 tweak premake files for ExampleBrowser, allow non-GUI mode for humanoidMotionCapture 2019-01-28 07:35:57 -08:00
erwincoumans
ae8e83988b Add preliminary PhysX 4.0 backend for PyBullet 
Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
 2019-01-22 21:08:37 -08:00
Michel Zou
e9112a9f5f Install examples lib 2019-01-12 11:06:06 +01:00
erwincoumans
9ad77a220e
Merge pull request #1990 from erwincoumans/master 
If a convex has called 'initializePolyhedralFeatures', use those feat…
 2018-11-13 15:32:05 -08:00