Commit Graph

4639 Commits

Author SHA1 Message Date
erwincoumans
2b3c25d5f2 add a b3Clock::usleep in PhysicsClientUDP to avoid clogging all resources
report more meaningful connection status for UDP.
2017-01-28 12:42:04 -08:00
erwincoumans
5c92bee01c Merge pull request #933 from erwincoumans/master
cmake build support for VR demo (WIN32 only)
2017-01-27 09:28:37 -08:00
erwincoumans
7e59cecd13 removed some link from MJCF hand, the parser doesn't handle that root link properly (yet) 2017-01-26 17:52:12 -08:00
erwincoumans
1dec1a39ce Add the pybullet vrhand.py script used in this haptic video:
Make sure to run the App_SharedMemoryPhysics_VR with --norobotassets option, then
run vr_kuka_setup.py, to add some environment + objects.
2017-01-26 17:22:01 -08:00
erwincoumans
37ed4b819a [cmake] only use BT_ENABLE_VR for the _VR target
use -DUSE_DOUBLE_PRECISION=ON when building pybullet and/or VR targets
2017-01-25 22:41:31 -08:00
Erwin Coumans
94c768bea8 cmake build support for VR demo (WIN32 only)
update to latest OpenVR 1.05 SDK from https://github.com/ValveSoftware/openvr
add keyboard support to tune default camera VR position
VR revert to double 'distorted' views on Desktop, since the single view isn't showing full scene
2017-01-25 19:17:57 -08:00
erwincoumans
a230c941f9 Merge pull request #932 from erwincoumans/master
minor fixes, report visual frame instead of inertial frame in visualShapeData
2017-01-25 11:37:23 -08:00
Erwin Coumans
980908bdee add optimized version of sphere-capsule and capsule-sphere, re-using the capsule-capsule code with zero height for a sphere. 2017-01-25 10:45:55 -08:00
Erwin Coumans
e652696f52 report localVisualFrame instead localInertialFrame 2017-01-25 08:29:45 -08:00
Erwin Coumans
76dcf3a751 remove the contype=0 in inverted_pendulum.xml, so we can 'mouse-pick' the pendulum.
[mjcf importer] add rudimentary support for inertial frame computation, for 'fromto' capsules.
2017-01-24 21:10:21 -08:00
erwincoumans
a9be975601 Merge pull request #931 from erwincoumans/master
fix a few warnings
2017-01-24 09:06:38 -08:00
Erwin Coumans
95e25d9942 fix a few warnings 2017-01-24 08:36:46 -08:00
erwincoumans
7e22e225a3 Merge pull request #930 from erwincoumans/master
Update btMultiBody.h (make compTreeLinkVelocities public)
2017-01-23 23:06:53 -08:00
erwincoumans
bc997c1fd0 Update btMultiBody.h 2017-01-23 22:53:11 -08:00
erwincoumans
f81743eee0 Merge pull request #929 from erwincoumans/master
more btCapsuleShape fixes:w
2017-01-23 22:44:43 -08:00
Erwin Coumans
1b2db1ff09 more btCapsuleShape fixes
use hello_mjcf.xml for MJCF importer
2017-01-23 22:22:02 -08:00
Erwin Coumans
a25a5e523c drop non-uniform local scaling support for btCapsuleShape 2017-01-23 21:10:32 -08:00
erwincoumans
9a8b0272d4 Merge pull request #928 from erwincoumans/master
more fixes for btCapsuleShape: its entire radius is collision margin
2017-01-23 19:43:57 -08:00
Erwin Coumans
2f381dece8 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-23 19:38:28 -08:00
Erwin Coumans
0060c42ae8 more fixes for btCapsuleShape: its entire radius is collision margin, don't let the user override it (similar to a btSphereShape) 2017-01-23 19:38:14 -08:00
Erwin Coumans
8c480b1cd7 revert to older version of stb_image, the new version causes issues in
our build system.
2017-01-23 17:36:43 -08:00
Erwin Coumans
e7dbf0b3e8 Merge remote-tracking branch 'bp/master' 2017-01-23 17:26:34 -08:00
Erwin Coumans
ce9d8d96c9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-23 17:26:23 -08:00
erwincoumans
8125b2610b Merge pull request #927 from erwincoumans/master
Fix TinyRenderer light rendering, fix btCapsuleShape collision margin, add capsule support for URDF parser
2017-01-23 17:15:23 -08:00
Erwin Coumans
fac943d9c7 Merge remote-tracking branch 'bp/master' 2017-01-23 16:47:07 -08:00
Erwin Coumans
d465e1eea5 add capsule support in urdf parser (non-standard extension), capsule.urdf
fix btCapsuleShape (X,Y,Z) margin issue
fix uninitialized variables in TinyRenderer: m_hasLightDistance, m_hasLightAmbientCoeff, m_hasLightDiffuseCoeff, m_hasLightSpecularCoeff
pybullet/shared memory API 'getClosestPoints' / b3InitClosestDistanceQuery, only report contacts equal/smaller distance than given
2017-01-23 16:45:18 -08:00
Erwin Coumans
f2da5d41c9 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-22 21:26:15 -08:00
erwincoumans
d2c7d0b57d Merge pull request #926 from erwincoumans/master
more improvements to pybullet (bodies/constraints are up-to-date after reconnection), pybullet quickstart guide
2017-01-22 21:22:10 -08:00
Erwin Coumans
73e83d6e84 fix OSX build, fix some warnings 2017-01-22 21:06:51 -08:00
Erwin Coumans
cad45b9c20 add test script to move pr2 controller using pybullet (after initializing the world using vr_kuka_setup.py 2017-01-22 19:48:28 -08:00
Erwin Coumans
cf9f022d39 [pybullet] getNumConstraints, getConstraintInfo APIs.
[pybullet] updated pybullet_quickstartguide.pdf
Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal.
pybullet getConstraintInfo
Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
2017-01-22 19:08:31 -08:00
Erwin Coumans
f237c4440f pybullet: only allow a single local in-process GUI connection
update pybullet quickstart guide
2017-01-21 14:30:37 -08:00
erwincoumans
d834bc72af Merge pull request #925 from erwincoumans/master
Prepare for Bullet 2.86 release, update version to 2.86 (release will…
2017-01-21 12:32:41 -08:00
Erwin Coumans
64957ece9f add hand.py/hand.ino used to create this VR glove, using MuJoCo Haptix MPL hand (Apache 2 license)
https://www.youtube.com/watch?v=VMJyZtHQL50
added b3InitSyncBodyInfoCommand, to retrieve body info, when connecting to a server with existing bodies
pybullet will call this b3InitSyncBodyInfoCommand automatically after connecting
Avoid overriding the py.setVRCameraState setting in VR
2017-01-20 18:13:24 -08:00
erwincoumans
1fe70750f3 Merge pull request #921 from benelot/fix-linkstate-errormessage
pybullet: Error message wrong when linkIndex < 0 in getLinkState
2017-01-20 11:57:23 -08:00
Erwin Coumans
d81d62a70b Prepare for Bullet 2.86 release, update version to 2.86 (release will be tagged soon)
protect some C-API methods against negative dof indices
add triangle mesh import from MJCF files
update to recent pybullet quickstart guide pdf
2017-01-20 11:48:33 -08:00
Benelot
d3305bb76f Change jointIndex to linkIndex in getLinkState error message. 2017-01-19 09:11:06 +01:00
erwincoumans
2bc787626e Merge pull request #920 from erwincoumans/master
update pybullet quickstart guide
2017-01-17 18:49:24 -08:00
Erwin Coumans
1c2f2913b8 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-01-17 18:25:42 -08:00
erwincoumans
a79a17306b Merge pull request #919 from erwincoumans/master
[pybullet] implement addUserDebugParameter / readUserDebugParameter
2017-01-17 18:24:40 -08:00
erwincoumans
394196e5a2 Update PhysicsServerExample.cpp 2017-01-17 17:38:30 -08:00
Erwin Coumans
3fe9996860 update pybullet_quickstartguide.pdf to latest from
https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit
2017-01-17 15:55:24 -08:00
Erwin Coumans
52761f5578 [pybullet] implement addUserDebugParameter / readUserDebugParameter
fix inertial frame for door.urdf
allow picking of links of multi-bodies with a fixed base
2017-01-17 15:42:32 -08:00
erwincoumans
8ec5acbf23 Merge pull request #918 from erwincoumans/master
set the paircache filter
2017-01-16 21:08:33 -08:00
Erwin Coumans
966ebb04fe set the paircache filter 2017-01-16 21:04:02 -08:00
erwincoumans
b9b958ec9c Merge pull request #917 from erwincoumans/master
add --disable_desktop_gl for Virtual Reality server (App_SharedMemory…
2017-01-16 19:55:17 -08:00
Erwin Coumans
12a391e1f9 [pybullet] expose collision filter mode and max constraint force:
pybullet.changeUserConstraint(maxForce=<double>)
pybullet.setPhysicsEngineParameter(collisionFilterMode=<int>)
2017-01-16 18:17:18 -08:00
Erwin Coumans
93471a1c31 cmake Win32 fixes
fixed some more warnings
added alignment macros to some classes
btPersistentManifold from 128 to 16 bytes aligned
prepare command to select collision filter mode (SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
2017-01-16 13:05:26 -08:00
Erwin Coumans
3dfcd27147 upgrade to latest stb_image from
7e989db555
2017-01-16 11:37:44 -08:00
Erwin Coumans
3d985ff7a5 add App_SharedMemoryPhysics and App_SharedMemoryPhysics_GUI to cmake
fix 'connection' detection for shared memory (due to multiple shmem blocks)
add link to pybullet.so
2017-01-16 11:17:32 -08:00