erwincoumans
37cfce99b2
add arguments to plugin system
2017-09-23 07:52:10 -07:00
erwincoumans
240fff575d
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-23 07:22:50 -07:00
Erwin Coumans
3783dccaa3
create a C/C++ plugin system for pybullet / C-API.
2017-09-22 19:17:57 -07:00
erwincoumans
312e35964f
make some code const correct.
2017-09-22 07:53:21 -07:00
Erwin Coumans
b9b1b2dbca
add B3_SHARED_API to the remaining PhysicsClientC_API APIs
2017-09-21 16:40:19 -07:00
Erwin Coumans
176c2512de
add B3_SHARED_API definition for Mac / Linux / gcc
2017-09-21 08:37:00 -07:00
erwincoumans
6a7efac4c3
Quick first prototype/test to integrate pybullet into Unity,
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see readme.txt for details.
2017-09-20 23:18:18 -07:00
erwincoumans
2919e51d9d
fix loading of empty file (after header)
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remove debug printf
2017-09-17 15:44:14 -07:00
Erwin Coumans
2e7c0cef38
pybullet/C-API: fix width/height when getCameraImage has a fallback from OpenGL hardware
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to TinyRenderer
2017-09-14 15:39:22 -07:00
Erwin Coumans
c220513757
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-13 13:31:56 -07:00
Erwin Coumans
340a8f4704
add sigaction handler to Example Browser, to always shutdown shared memory
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make GUI_SERVER more reliable
next attempt to connect to SHARED_MEMORY in Gym envs, if available, before DIRECT/GUI
allow software rendering fallback, even if ER_BULLET_HARDWARE_OPENGL is chosen in getCameraImage
2017-09-13 13:30:16 -07:00
Erwin Coumans
97a62b33c0
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2017-09-13 12:07:59 -07:00
Erwin Coumans
2eaac410b5
remove memory of loadTexture.
2017-09-13 12:07:19 -07:00
Erwin Coumans
c250a5f0b9
re-enable shared memory connection for pybullet Gym envs (with fallback to GUI or DIRECT)
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suppress shared memory connection warnings
add fallback from ER_BULLET_HARDWARE_OPENGL to TinyRenderer if not available
2017-09-13 09:56:39 -07:00
erwincoumans
cc9995d44b
fix uninitialized camera position in 'VR' / 'camera rendering' mode (causing broken specular reflections in VR)
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use debug visualizer camera viewmatrix/projection matrix if not provided, in ER_BULLET_HARDWARE_OPENGL mode.
fix broken changeRGBAColor implementation, thanks to Laura for the report!
2017-09-12 22:14:00 -07:00
erwincoumans
9d804cfb97
avoid crash if swRenderInstances are not available
2017-09-12 17:27:18 -07:00
Erwin Coumans
416c29daf7
fix with shared memory connection while disabling rendering
2017-09-11 09:30:39 -07:00
Erwin Coumans
ec18adbf0a
fix MJCF visual shape capsule conversion code (fromto case)
2017-09-10 07:48:43 -07:00
Erwin Coumans
cbe0d0aff2
pybullet fix: accidently enable self-collision
2017-09-07 14:27:00 -07:00
Erwin Coumans
9ecd345783
backwards compatibility...
2017-09-07 11:40:11 -07:00
Erwin Coumans
7878f7ace9
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake
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Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay))
Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 13:18:39 -07:00
Erwin Coumans
3f21e528f0
revert name 'v' -> 'u' (backward compatibility) and 'u' -> 't'
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make vr_kuka_setup.py load faster, by disabling rendering during loading
allow to setRealTimeSimulation(0) in VR
2017-09-02 11:35:54 -07:00
erwincoumans
eb97e06280
fix minitaur.urdf: move lower-leg inertia to center, add missing collision for one of the motors, add contact parameters for friction_anchor, spinning friction, compliance (stiffness/damping)
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fix in indexing for maximal coordinates (unused by default, still experimental, requires many iterations for Minitaur due to extreme mass-ratio, hence use of reduces/generalized coordinates)
modify quadruped.py to test maximal coordinates
wrap angular servo (positional) target within [-PI,PI] in btGeneric6DofSpring2Constraint
add 'j' key to show body frames in wireframe/debug mode
2017-09-02 01:05:42 -07:00
erwincoumans
ee30479a28
add option to log joint torques (due to user applied torques and/or motor torques)
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See quadruped.py for an example:
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
Thanks to JulianYG, in pull request https://github.com/bulletphysics/bullet3/pull/1273
2017-08-30 19:41:15 -07:00
erwincoumans
8dfa76e924
implement pybullet.createUserConstraint for maximalCoordinates (fixed, p2p, gear)
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maximalCoordinates, make sure parent is bodyA, child is BodyB
2017-08-30 09:54:38 -07:00
erwincoumans
1f7db4519e
enable motor control for maximal coordinates robots (btRigidBody, btTypedConstraint) for force, velocity, position control.
2017-08-29 19:14:27 -07:00
Erwin Coumans
1569f3845c
more fixes in pybullet_gym envs/data.
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implement pybullet.setAdditionalSearchPath
2017-08-27 19:34:00 -07:00
Erwin Coumans
5c5993edcb
fix potential memory leaks for concave triangle meshes (<concave=true> or createCollisionShape with flags=1)
2017-08-24 09:16:11 -07:00
Erwin Coumans
b80a387a1e
upgrade to latest OpenVR 1.0.9 ( https://github.com/ValveSoftware/openvr )
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enable experimental Mac OSX OpenVR, tested using Apple External Graphics Development Kit.
2017-08-19 09:48:32 -07:00
Erwin Coumans
a66576f034
revert API to be backward compatible, add b3CreateInProcessPhysicsServerAndConnectSharedMemory
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same for BulletURDFImporter constructor
2017-08-16 12:33:25 -07:00
erwincoumans
2e0a987750
pybullet only allow one GUI/GUI_SERVER instance.
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Fix LINK_FRAME/WORLD_FRAME coordinate issue in pybullet applyExternalForce
2017-08-15 14:15:30 -07:00
Erwin Coumans
60b60ef9fd
add pybullet.connect(pybullet.GUI_SERVER) option. This allows shared memory connections, acting as a physics server. You can connect using SHARED_MEMORY to this GUI_SERVER.
2017-08-14 17:02:20 -07:00
Erwin Coumans
aafaa7e33e
Expose optional "globalScaling" factor to pybullet.loadURDF and pybullet.loadSDF. This will scale the visual, collision shapes and transform locations.
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Fix two_cubes.sdf (was lacking collision shape for second cube)
2017-08-14 14:59:41 -07:00
erwincoumans
457312f94f
fix leak in loadSDF in case of visuals with duplicate/identical names that have a material.
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fix GUI performance issue on Mac OSX
fix issue introduced in previous commit (in btConvexHullComputer.cpp)
2017-08-11 17:14:52 -07:00
Erwin Coumans
0df8887990
improve pybullet performance of loadURDF/SDF/MJCF and 'createCollisionShape'/'createMultiBody' for GUI/VR/SHARED_MEMORY,
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use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loading and
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) afterwards
2017-07-14 23:12:16 +01:00
Erwin Coumans
88897cc744
implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added)
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See also examples\pybullet\examples\changeTexture.py
2017-06-30 19:11:43 -07:00
Erwin Coumans
dd3d55610b
fixes in pybullet.loadTexture, changeVisualShape replacing texture.
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(also works for OpenGL3 renderer now)
2017-06-30 13:35:07 -07:00
Erwin Coumans
dcaaed9238
also generate TinyRendererVisualShapeConverter for programmatically generated collision shapes
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use similar random colors for TinyRenderer (if rgba colors are not specified)
2017-06-29 22:06:27 -07:00
Erwin Coumans
65e22ba3e9
allow auxilary link to be used for gear btMultiBodyGearConstraint.
2017-06-23 20:24:04 -07:00
Erwin Coumans
8e9f5ef3f3
fix compile issue
2017-06-23 16:22:38 -07:00
Erwin Coumans
2ab56b4d62
Allow to create concave collision meshes. Note that this is only supported for static (mass 0) multibodies.
2017-06-23 14:43:28 -07:00
Erwin Coumans
97f6a161f1
fix stb_image.h include path to be consistent.
2017-06-22 08:09:33 -07:00
Erwin Coumans
71170d6384
reduce stack usage (cause some crashes in low-stack tests)
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fix crashing bug in changeVisualShape
add differential gear version of racecar (only 2 back wheels are powered)
2017-06-20 20:22:14 -07:00
Erwin Coumans
61f27a5c72
also add baseInertialFramePositionObj and baseInertialFrameOrientationObj to pybullet.createMultiBody
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updated createMultiBodyLinks.py example.
2017-06-19 17:13:20 -07:00
Erwin Coumans
7441515c0e
Preliminary version of pybullet.createMultiBody including links connected to parent by a joint.
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See createMultiBodyLinks.py example.
2017-06-19 13:15:05 -07:00
Erwin Coumans
f3c11b6f31
add capsule, cylinder, plane, mesh support for pybullet.createCollisionShape
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preparation to add links to pybullet.createMultiBody
2017-06-19 10:14:26 -07:00
Erwin Coumans
2e6f8c271e
allow to disable/enable default keyboard shortcuts ('w', 'd' 's' etc) and default mouse picking
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pybullet.getMouseEvents / b3RequestMouseEventsCommandInit
2017-06-17 13:29:14 -07:00
Erwin Coumans
3a826a5997
getCameraImage: use debug visualizer camera viewmatrix/projection matrix if possible (only if view/proj matrix is not provided)
2017-06-17 11:21:10 -07:00
Erwin Coumans
23b155a2b4
add getAABB.py example.
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fix getAABB / b3RequestCollisionInfoCommandInit to use less stack memory
2017-06-16 18:10:10 -07:00
Erwin Coumans
bb8cfe3c9a
pybullet.getAABB and getAPIVersion
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fix btMultiBody::getLinkCollider
bump up Bullet C-API version
2017-06-15 19:46:27 -07:00