erwincoumans
dba239fe8d
First pass of load files through an interface (to allow loading from memory, zip file etc). So instead of posix fopen/fread, using CommonFileIOInterface.
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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.
2018-10-08 21:27:08 -07:00
erwincoumans
ab8f16961e
Code-style consistency improvement:
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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
2018-09-23 14:17:31 -07:00
erwincoumans
22b4809891
leave m_useGlobalVelocities to false, until enabled, for backward compatibility
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use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
2018-01-10 11:16:50 -08:00
Erwin Coumans
c59a3763e5
tweak ImportMJCFSetup.cpp example MJCF humanoid a bit, clamp target positions to be within joint limits to avoid solver problems (conflicting constraints)
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add humanoid_manual_control.py PyBullet example which is similar to ImportMJCFSetup.cpp
2018-01-04 13:14:11 -08:00
yunfeibai
e6d1a8cf97
Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.
2017-06-01 15:30:37 -07:00
Erwin Coumans
e32debdca4
improvements in MJCF importer: fix capsule shape inertia (for fromto definition)
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add cylinder support
don't crash when no "quat" is provided
inertia fix in btMinkowskiSumShape (based on AABB)
2017-04-05 12:22:38 -07:00
Oleg Klimov
e8da7bb6f8
URDF loader: fix MuJoCo xml load, also closes #993
2017-03-17 02:11:47 +03:00
Erwin Coumans
1b2db1ff09
more btCapsuleShape fixes
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use hello_mjcf.xml for MJCF importer
2017-01-23 22:22:02 -08:00
Erwin Coumans
d81d62a70b
Prepare for Bullet 2.86 release, update version to 2.86 (release will be tagged soon)
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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
Erwin Coumans
8e9181f85c
[MJCF import] add custom broadphase collision filter, for MJCF/MuJoCo compatibility
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[MJCF import] improve MuJoCo importer, support collision filters
fixed a few more warnings
2017-01-16 08:23:49 -08:00
Erwin Coumans
c0c4c8ba3f
fix many warnings
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remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
2017-01-15 22:26:11 -08:00
Erwin Coumans
310fabcd7e
Further improvements in Bullet MuJoCo MJCF import:
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[MJCF import] improved humanoid.xml, inverted_pendulum.xml import (automatically add dummy-links to connect multiple joints between bodies)
[MJCF import] fix bug in quaternion conversion (w,x,y,z) -> (x,y,z,w)
2017-01-15 11:22:24 -08:00
Erwin Coumans
7b7d897e3b
explicitly mark dead code
2017-01-12 12:29:15 -08:00
Erwin Coumans
c940f0ec47
update pybullet quickstart quide PDF
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hook up the loadMJCF importing MuJoCo xml files in pybullet and shared memory API b3LoadMJCFCommandInit
2016-12-31 14:43:15 -08:00
Erwin Coumans
fdd517e00f
First step towards a MuJoCo MJCF importer for Bullet. It can load the humanoid.xml, ant.xml and some other OpenAI GYM asset files. Not all fields are converted, so it is work-in-progress. This is useful for Reinforcement Learning experiments, and would also help integration with DeepMind Lab.
2016-12-30 18:32:57 -08:00
erwincoumans
9bad64fed9
allow obsolete OpenGL2 drawer to render with z-up axis.
2016-11-12 11:59:40 -08:00
erwin coumans
7577c6d893
add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF.
2016-11-11 18:07:42 -08:00
