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2903 Commits

Author SHA1 Message Date
Erwin Coumans
e5ed15c3b2 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 23:37:23 -08:00
Xuchen Han
6268911a43 enable real time simulation 2019-11-18 23:37:22 -08:00
Xuchen Han
22fb2cfb5e add python binding to allow loading deformable objects 2019-11-18 23:37:22 -08:00
Erwin Coumans
655981c6ad fix load_soft_body.py example. 
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
 2019-11-18 23:37:22 -08:00
Erwin Coumans
dc26d2e360 PyBullet: fix memory leak in changeTexture command 
Fixes #2481
 2019-11-18 23:37:22 -08:00
Erwin Coumans
8f16332708 expose the double sided flag 2019-11-18 23:37:22 -08:00
Erwin Coumans
920b253e87 Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering. 2019-11-18 23:37:22 -08:00
erwincoumans
d26752b232
Merge pull request #2496 from xhan0619/add-deformable-faces 
Add faces to volumetric objects in deformable demos
 2019-11-18 16:07:07 -08:00
Xuchen Han
c4e73ec8a7 Add faces to volumetric objects in deformable demos 2019-11-18 14:47:57 -08:00
Erwin Coumans
1f6d504e44 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 10:22:56 -08:00
Xuchen Han
bca87426f4 enable real time simulation 2019-11-15 22:38:47 -08:00
Xuchen Han
a86710c5b6 add python binding to allow loading deformable objects 2019-11-15 21:25:11 -08:00
Erwin Coumans
72e0e7c223 fix load_soft_body.py example. 
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
 2019-11-14 21:20:42 -08:00
Erwin Coumans
24a76614f8 PyBullet: fix memory leak in changeTexture command 
Fixes #2481
 2019-11-14 17:07:08 -08:00
Erwin Coumans
cabef63b1c expose the double sided flag 2019-11-12 20:36:20 -08:00
Erwin Coumans
9ca957387f Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering. 2019-11-12 20:08:49 -08:00
Xuchen Han
2edd94c722 add option to approximate face contact with collision quadrature points 2019-11-12 17:10:39 -08:00
Xuchen Han
794614f269 change collision detection between deformables to from continuous to discrete 2019-11-11 13:58:03 -08:00
erwincoumans
b25d806b14
Merge pull request #2475 from xhan0619/fix-issue-#2473 
Fix issue #2473
 2019-11-08 20:45:05 -08:00
erwincoumans
886895e0bd
Merge pull request #2478 from xhan0619/fix-pd 
fix the bug that prevents the pd control forces/torques being added
 2019-11-08 20:44:17 -08:00
Xuchen Han
362bc6d9a3 fix the bug that prevents the pd control forces/torques being added 2019-11-08 17:08:59 -08:00
Erwin Coumans
bbf983bfbb reserve faces (minor performance improvement?) 2019-11-08 16:10:05 -08:00
Xuchen Han
baa9dcdf08 move erp for deformable into a separate parameter 2019-11-07 12:13:51 -08:00
Erwin Coumans
9f44d76b67 fix issue in BulletClient (pybullet_utils.bullet_client) that may disconnect multiple times, causing issues when repeatedly creating a gym env 
bump up pybullet to version 2.5.7
 2019-11-07 10:47:56 -08:00
erwincoumans
35c028880d
Merge pull request #2465 from erwincoumans/master 
add simple sceneAABB example
 2019-11-06 14:23:38 -08:00
Xuchen Han
13314360a8 add option for deformable rigid split impulse 2019-11-05 18:07:58 -08:00
Chuyuan Fu
09ca930ca8 make consistent for other models 2019-11-05 18:07:58 -08:00
Chuyuan Fu
05bc387081 update example to use absolute path 2019-11-05 18:07:58 -08:00
Erwin Coumans
b5715c96cf Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-11-04 15:46:23 -08:00
Erwin Coumans
f1f04aef53 add simple sceneAABB example 2019-11-04 15:45:58 -08:00
Chuyuan Fu
74571d79e7 add compute softbody com 2019-10-31 12:53:12 -07:00
Chuyuan Fu
618c85325c give softbody name 2019-10-31 12:53:12 -07:00
erwincoumans
8aa7f93bf1
Merge pull request #2448 from fuchuyuan/mergechange 
merge warmstart
 2019-10-30 10:31:43 -07:00
erwincoumans
959a48a1a0
Merge pull request #2454 from krishpop/patch-1 
Fix call to convert_to_leg_model
 2019-10-29 21:16:01 -07:00
Krishnan Srinivasan
0d4108f307
Fix call to convert_to_leg_model 
Fix call to convert_to_leg_model which is defined as a static method without an underscore in MinitaurExtendedEnv
 2019-10-29 16:00:55 -07:00
Erwin Coumans
136607151e use mult instead of max to combine friction properties 
use 0.5 friction for ground for a demo, and also a larger grid size
update description of deformable algorithm
disable SVD for now, has some issue with some compilers
 2019-10-28 12:53:59 -07:00
Xuchen Han
23dbea16f3 initialize m_useSelfCollision 2019-10-24 15:28:21 -07:00
Xuchen Han
270028363b Fix some performance issues caused by unneccessarily small sdf grid size. 2019-10-24 15:03:23 -07:00
Chuyuan Fu
913400eba1 add SOLVER_USE_ARTICULATED_WARMSTARTING option and APIs 
fix compile
 2019-10-23 21:36:26 -07:00
Xuchen Han
c6af3aa3f8 fix bug in deformable vs. deformable friction 2019-10-23 12:17:21 -07:00
Xuchen Han
36f7441790 support anchor constraint between deformable and multibody 2019-10-17 16:45:28 -07:00
Xuchen Han
60dfe1fe69 add support for anchor constraint between deformable and rigid 2019-10-16 19:23:01 -07:00
Xuchen Han
3ae193ff15 bool->int 2019-10-15 15:43:26 -07:00
Xuchen Han
30238b2fbc remove std::copysign 2019-10-15 13:51:33 -07:00
Xuchen Han
a7222d8a9f add option to set stress clamping limit 2019-10-15 13:51:33 -07:00
Xuchen Han
45c4497711 fix compile 2019-10-15 13:50:13 -07:00
Xuchen Han
992e1454b6 turn on SKIP_DEFORMABLE 2019-10-15 13:50:13 -07:00
Xuchen Han
c808bb78c7 delete lagrangian force when deleting dynamics world from command processor 2019-10-15 13:50:13 -07:00
Xuchen Han
94facf0029 typo fix 2019-10-15 13:50:13 -07:00
Xuchen Han
c610ba49df fix bug in computing rhs in momentum solve 2019-10-15 13:47:55 -07:00
Xuchen Han
0cb7cb2445 bool->int 2019-10-15 13:47:55 -07:00
Xuchen Han
e13578fee3 add option to turn self-collision on/off 2019-10-15 13:47:55 -07:00
Xuchen Han
d0e4bbf04d fix gravity set up 2019-10-15 13:47:54 -07:00
Xuchen Han
ec91a0ffa4 configure damping coefficients for neohookean models 2019-10-15 13:47:54 -07:00
Erwin Coumans
31e778c913 avoid crashes in TinyRenderer 2019-10-09 22:26:20 -04:00
Erwin Coumans
2caf4505f0 pybullet: suppress debug printf (obj texture coordinate out-of-range) 2019-10-03 09:25:54 -07:00
Erwin Coumans
9a6c6a3fb4 Merge remote-tracking branch 'bp/master' 2019-10-02 22:39:51 -07:00
Xuchen Han
5a55374d85 pass render nodes instead of simulated nodes to renderer 2019-10-01 14:48:34 -07:00
Erwin Coumans
b6e5609f90 fix mac osx compilation 2019-09-30 14:08:22 -07:00
Xuchen Han
187019268c enable deformable vs. deformable and self-collision in deformable loading 2019-09-28 15:10:06 -07:00
Xuchen Han
2d045de589 parameter change in ClothFriction Demo 2019-09-28 14:44:42 -07:00
Xuchen Han
ccaddfca21 documentation and optimization 2019-09-28 14:44:42 -07:00
Chuyuan Fu
cd27ffd8b0 add body type info to dynamics info 2019-09-28 14:44:42 -07:00
Xuchen Han
977bdb4e0e adjust parameters 2019-09-28 14:44:41 -07:00
Xuchen Han
cb46440e17 add normal cone optimization for self-collision 2019-09-28 14:44:41 -07:00
Xuchen Han
657a7468b3 documentation and optimization 2019-09-28 14:44:41 -07:00
Xuchen Han
416e516735 add naive implementation of self collision 2019-09-28 14:44:41 -07:00
Xuchen Han
be7383cc03 update examples to test different time stepping schemes (namely explicit, implicit and implicit with line search)/ 2019-09-28 14:44:41 -07:00
Xuchen Han
ef5aa6e73b add options to toggle between whether line search is used & add more documentation 2019-09-28 14:44:41 -07:00
Xuchen Han
0501fe1bbd add cloth demo to show deformable friction 2019-09-28 14:44:41 -07:00
Xuchen Han
55ebafc755 add demo to test soft body friction 2019-09-28 14:44:41 -07:00
Xuchen Han
cca220eb27 add damping energy to mass spring 2019-09-28 14:44:41 -07:00
Xuchen Han
3dcfcda19a typo fix 2019-09-28 14:44:41 -07:00
Xuchen Han
a92a8f1135 add demo for deformable contact 2019-09-28 14:44:41 -07:00
Xuchen Han
1bfb226be8 add support for deformable vs. deformable contact 2019-09-28 14:44:41 -07:00
Xuchen Han
f813cb1c88 modify loadSoftBody to enable separate render mesh from simulation mesh 2019-09-28 14:44:41 -07:00
Chuyuan Fu
e74ffa2f65 add body type info to dynamics info 2019-09-28 14:43:40 -07:00
Xuchen Han
27bf4d3372 new vtk mesh 2019-09-28 14:43:40 -07:00
Erwin Coumans
0549fd4ecc PyBullet eglPlugin: 
use -1 as default egl render device
clear m_cachedVisualShapes at reset
 2019-09-27 17:14:36 -07:00
Erwin Coumans
391411b660 fix use of uninitialized variable 2019-09-25 13:49:11 -07:00
Erwin Coumans
2e5455def1 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-09-25 09:10:44 -07:00
Erwin Coumans
677fe1a368 fix define SKIP_DEFORMABE_BODY -> SKIP_DEFORMABLE_BODY 2019-09-25 09:08:48 -07:00
Erwin Coumans
bdf24bd4e7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-09-24 13:43:20 -07:00
Erwin Coumans
32c38cd3dc remove 'disableVRCamera' to fix issue #2390 2019-09-24 13:42:45 -07:00
Erwin Coumans
275a2aecb0 fix compile issues 2019-09-13 09:37:23 -07:00
Erwin Coumans
95a7488310 PyBullet: fix createMultiBodyBatch.py example 2019-09-13 07:38:00 -07:00
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
Erwin Coumans
db9bc4f835 PyBullet: write body sync data to larger shared memory 2019-09-09 18:05:29 -07:00
Erwin Coumans
64ea8e9f27 PyBullet createMultiBody(Batch), return all body unique ids 
PyBullet: fix crash: always check for existance m_multibodyWorld in ::render method
 2019-09-09 16:41:25 -07:00
Erwin Coumans
5a3c60c709 PyBullet: Fix syncBodyInfo for over 512 bodies. 
PyBullet: Fix issue related to recent change in drawDebugDrawerLines (soft body)
 2019-09-09 14:56:26 -07:00
erwincoumans
bcc7ea31ff
Merge pull request #2386 from xhan0619/newton 
Newton solver
 2019-09-06 10:32:59 -07:00
Erwin Coumans
74abd99192 fix asan int overflow in hash 2019-09-05 17:42:18 -07:00
Xuchen Han
1ded85e62e remove extra gravity field 2019-09-04 18:49:44 -07:00
Xuchen Han
3d2f945f9c address PR comments 2019-09-04 18:49:44 -07:00
Xuchen Han
f392d8ceb1 clean up memory when exiting 2019-09-04 18:49:43 -07:00
Xuchen Han
482458c9df improve deformable objects loading 2019-09-04 18:49:43 -07:00
Xuchen Han
7d1b93cc17 contact solve for newton 2019-09-04 18:48:00 -07:00
Xuchen Han
c722630fc7 bug fix in neohookean force 2019-09-04 18:48:00 -07:00
Xuchen Han
7c39052163 clean up forces 2019-09-04 18:48:00 -07:00
Xuchen Han
0b391798b7 hook deformable world into the physics server 2019-09-04 18:48:00 -07:00
erwincoumans
9cf50846d6
Merge pull request #2393 from muupan/fix-typo-duration 
Fix typo: s/duraction/duration/g
 2019-09-04 09:37:57 -07:00
erwincoumans
85ba3ba957
Merge pull request #2396 from fuchuyuan/bodytypeAPI 
Add body type to dynamics info
 2019-09-04 09:37:31 -07:00
Michel Breyer
c374d01587 Deallocate importer in RestoreState 2019-09-04 13:10:34 +02:00
Chuyuan Fu
ecc28d6472 revert testing example 2019-09-03 14:35:33 -07:00
Chuyuan Fu
e4a5f9e06e add body type info to dynamics info 2019-09-03 14:27:19 -07:00
muupan
4c209a4834 Fix typo: s/duraction/duration/g 2019-09-03 17:29:43 +09:00
erwincoumans
25cc1fa386
Merge pull request #2373 from xhan0619/DeformableImprovement 
Deformable improvement
 2019-08-24 18:09:47 -07:00
Xuchen Han
6beeac7065 refactor contact solve 2019-08-23 17:32:41 -07:00
erwincoumans
9a7b89c95a
Update PhysicsServerCommandProcessor.cpp 
also allow to extract collision info (pybullet. getCollisionShapeData ) for concave meshes. Thanks to Brent.
 2019-08-22 07:38:23 -07:00
Xuchen Han
3fbd7a7edd delete forces in exitPhysics 2019-08-21 23:00:18 -07:00
Xuchen Han
4e1c1a30a7 remove world dependency from btDeformableBodySolver,btDeformableBackwardEulerObjective, and btCGProjection; reduce invasion into multibody world, all chnages are cosmetic now 2019-08-21 22:17:46 -07:00
Xuchen Han
9af25430ac update examples to include NeoHookean Model and new damping model 2019-08-19 12:04:10 -07:00
Xuchen Han
6d4e93d3bf mods for compatibility with older compiler 2019-08-16 14:03:14 -07:00
Xuchen Han
bf215a3ce1 rename btDeformableRigidDynamicsWorld to btDeformableMultiBodyDynamicsWorld 2019-08-16 13:45:30 -07:00
Xuchen Han
c9ab033a8b check in a good set of parameters for grasping deformable ball with nonlinear damping force (not as stable as linear damping) 2019-08-16 13:45:30 -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
081497a812 reset dt to 1/240 for grasping demos 2019-08-16 13:45:29 -07:00
Xuchen Han
991be52681 add more volumetric meshes for grasping tests 2019-08-16 13:45:29 -07:00
Xuchen Han
f7cd1edf4a code clean up 2019-08-16 13:45:29 -07:00
Xuchen Han
5b8df6a708 switch to Baraff style constraint 2019-08-16 13:45:08 -07:00
Xuchen Han
27492887bf move files and update license 2019-08-16 13:45:08 -07:00
Xuchen Han
26983b05e2 modify constraint setup so that contact constraints are persistent in a single CG solve but motor constraints are applied only once 2019-08-16 13:45:05 -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
Xuchen Han
6d31c73216 style fix and remove unused variable 2019-08-16 13:44:59 -07:00
Erwin Coumans
648844e898 minor fixes, bump up pybullet to 2.5.5 2019-08-14 21:30:10 -07:00
Erwin Coumans
f09cefabe8 Merge remote-tracking branch 'bp/master' 2019-08-14 21:14:56 -07:00
erwincoumans
6feb1b25db
Merge pull request #2365 from fuchuyuan/updateLoadingSoftBody 
update loading softbody
 2019-08-14 21:14:10 -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
erwincoumans
75df77611a
Merge pull request #2366 from fuchuyuan/tinyObjUpdate 
update obj loader
 2019-08-14 13:37:14 -07:00
Chuyuan Fu
eacebc80d5 fix compile 2019-08-14 11:01:48 -07:00
Chuyuan Fu
10108cd3ea update obj loader 2019-08-13 16:53:51 -07:00
Chuyuan Fu
b90097803e update loading softbody 2019-08-13 14:56:26 -07:00
Erwin Coumans
e0b642d730 pybullet: fix calculateInverseKinematics2 2019-08-11 17:02:16 -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
69a02302aa fix gripper in pinch example 2019-08-10 12:12:59 -07:00
Erwin Coumans
f5ae8bd1af Merge remote-tracking branch 'bp/master' 2019-08-09 10:17:57 -07:00
Xuchen Han
12653f9f19 add back files accidentally removed 2019-08-09 10:14:35 -07:00
Erwin Coumans
54111f7023 PyBullet: add support for internal edge filtering for height field terrains 2019-08-09 10:14:14 -07:00
Artur Ryt
c39c842fe3 Fix examples\pybullet\premake4.lua parsing error 
There is missing } after previous edit (226819), which leads
to error when using build_visual_studio_vr_pybullet_double.bat

Adding it back fixed the error.
 2019-08-09 13:58:36 +02:00
Erwin Coumans
046e036519 pybullet: restore internal edge filtering (see internalEdge.py example) 2019-08-08 19:36:23 -07:00
Xuchen Han
7adb6fdff3 2016 -> 2019 2019-08-08 17:43:49 -07:00
Xuchen Han
817e64a769 remove one softbody array copy 2019-08-08 17:31:59 -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
erwincoumans
fc95415c0e
Merge pull request #2359 from erwincoumans/master 
premake add enable_stable_pd option, so Bullet can be compiled withou…
 2019-08-08 09:58:32 -07:00
Tigran Gasparian
ebe6d2df86 Don't reset user data on SyncBodyInfo() 2019-08-08 13:20:44 +02:00
Tigran Gasparian
cf25b6183d . 2019-08-08 10:53:23 +02:00
Tigran Gasparian
822c24e867 Clears body and user data caches when syncBodyInfo and syncUserData are called 2019-08-08 09:50:32 +02:00