AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-14 05:40:05 +00:00
Code Issues Releases Wiki Activity
7,509 Commits 19 Branches 27 Tags 326 MiB
3eedb2a6f2
Commit Graph

569 Commits

Author SHA1 Message Date
Erwin Coumans
b2825724d4 only if SPD is enabled 2019-07-21 22:03:23 -07:00
Erwin Coumans
8f220c1b23 fix memory leak in previous commit 2019-07-21 21:48:51 -07:00
Erwin Coumans
39a4e8dcd9 Implement faster array versions of PyBullet: getJointStatesMultiDof, getLinkStates, setJointMotorControlMultiDofArray, resetJointStatesMultiDof, 
Implement StablePD in C++ through setJointMotorControlMultiDofArray method for pybullet_envs.deep_mimic, see testHumanoid.py and examples/pybullet/examples/humanoidMotionCapture.py
Minor fix in ChromeTraceUtil in case startTime>endTime (why would it happen?)
 2019-07-21 13:08:22 -07:00
Erwin Coumans
31688ffb34 fix in multi-endeffector IK, calculate jacobian uses dofs without base, fix premake build of some projects 2019-07-11 22:22:35 -07:00
erwincoumans
8cc13efd2b
Merge pull request #2323 from erwincoumans/master 
fix issue in previous commit (need to reserve instead of resize)
 2019-07-10 20:53:22 -07:00
Erwin Coumans
7a7f944e39 fix issue in previous commit (need to reserve instead of resize) 2019-07-10 20:52:45 -07:00
erwincoumans
d220101c5a
Merge pull request #2322 from erwincoumans/master 
PyBullet.calculateInverseKinematics2 for IK with multiple end-effector locations
 2019-07-10 19:58:17 -07:00
Erwin Coumans
ee9575167d expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations) 
usage example:
jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
 2019-07-10 17:21:18 -07:00
erwincoumans
9ac2261557
Update PhysicsServerCommandProcessor.cpp 
set alpha default to 1, just in case.
 2019-07-09 08:42:52 -07:00
Andreas Christiansen
8c8a7fa0c9 Fix memory sanitizer warning on potential reading of uninitialized memory. This can happen for the RGB values that are only conditionally set in TinyRendererVisualShapeConverter::addVisualShape. 2019-07-09 11:52:42 +02:00
Chuyuan Fu
d5e028c673 take out unused variable 2019-07-01 13:31:00 -07:00
Chuyuan Fu
4da456054c Update PhysicsServerCommandProcessor and plugins to support render 2019-06-25 17:59:15 -07:00
Erwin Coumans
ed4515ae17 for the GraphicsServer, expose a sync transform interval: only synchronize the transform once the stepSimulation exceeds this time interval. 
(for example, run the simulation at 1kHz but sync the graphics transforms to remove graphics server at 30Hz)
 2019-06-19 09:45:29 -07:00
Erwin Coumans
c3b7f39aaf expose shadowMapResolution (texture resolution) and shadowMapWorldSize (size in meters in world space) 
expose pybullet.ConfigureOpenGLVisualizerRequest(lightPosition=[x,y,z], shadowMapWorldSize=10.5, shadowMapResolution=16384)
See examples/pybullet/examples/configureDebugVisualizer.py for an example.
This reimplements https://github.com/bulletphysics/bullet3/pull/2295 but without creating a new command/status and explicitly referring to the debug visualizer
(since the 'getCameraImage' also has a lightPosition)
 2019-06-19 09:01:16 -07:00
Erwin Coumans
7e76ee0ad7 make pybullet.getMeshData work for softbody 2019-06-17 21:43:38 -07:00
Chuyuan Fu
229e87c3c9 get mesh data api 
fix compile

fix typo
 2019-06-17 19:00:53 -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
Erwin Coumans
2b9bece2c8 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-05-08 12:03:46 -07:00
Erwin Coumans
577dd16299 fix test compilation 2019-05-08 12:03:23 -07:00
mbennice
cf16c5c51f Reduces wait in the gRPC plugin, fix state bug. 
Updates the gRPC plugin to gather messages in its own thread, and
corrects the state details not being correctly added to shared memory.
 2019-05-07 11:11:01 -07:00
Chuyuan Fu
ee10d47b17 fix space 
fix space
 2019-05-02 14:15:18 -07:00
Chuyuan Fu
3fb0a7c19b add set starting position and orientation to softbody 2019-05-01 16:56:40 -07:00
erwincoumans
f71aea0b66
Update PhysicsServerCommandProcessor.cpp 2019-04-27 14:24:01 -07:00
erwincoumans
62e01c7a33
Update PhysicsServerCommandProcessor.cpp 2019-04-27 12:21:45 -07:00
Chuyuan Fu
5b5307cf14 load softbody API 
update warning message

format
 2019-04-25 15:40:15 -07:00
erwincoumans
e97a7d77af only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1) 2019-04-14 18:20:20 -07:00
erwincoumans
5ff52e47d9 report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error. 2019-04-11 22:19:02 -07:00
erwincoumans
76918ca26d Merge remote-tracking branch 'bp/master' 2019-04-03 20:08:05 -07:00
erwincoumans
6951aaf26a implement PyBullet removeState command. Fixes Issue #2163 
https://github.com/bulletphysics/bullet3/issues/2163
 2019-04-03 20:06:40 -07:00
mbennice
fed1a878d7 Replaces ; with , 2019-03-26 18:14:07 -07:00
mbennice
8a96dc67cc Initializes simulation timestamp to 0 explicitly. 2019-03-26 14:39:01 -07:00
mbennice
8fcb8d0694 Update to bullet formatting 2019-03-17 11:52:56 -07:00
mbennice
d41e449d6f Adds a timestamp as a physics parameter. 2019-03-14 15:32:45 -07:00
erwincoumans
4ea907aacf expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890 
bump up PyBullet to version 2.4.8
 2019-03-09 09:23:16 -08:00
erwincoumans
32e93d9f91 allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies 
change snake.py to use useMaximalCoordinate = True by default
 2019-03-08 09:20:32 -08:00
erwincoumans
9408e4f2d0 Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok! 
Visit http://www.snakerobots.com to see one of these in the wild
 2019-03-07 21:13:00 -08:00
erwincoumans
0af0f193ee reduce size of SharedMemoryStatus by moving state details into shared memory streaming block. 2019-03-06 23:27:59 -08:00
Pandhariix
4801425910 Use the correct structure in the PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand method 2019-02-28 18:24:32 +01:00
erwincoumans
8e1c1448ab Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof. 2019-02-27 09:54:12 -08:00
erwincoumans
33619893c7 fixed failed git merge 2019-02-18 18:34:11 -08:00
erwincoumans
bdf9b10246 more work on pybullet_envs.deep_mimic. 
allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.
 2019-02-18 17:57:02 -08:00
erwincoumans
dc8a40f7dc PyBullet: fix issue with setCollisionFilterGroupMask 2019-02-17 12:02:52 -08:00
erwincoumans
e7e46154bb
Merge pull request #2106 from erwincoumans/master 
fast createMultiBody batch creation, more deep_mimic work
 2019-02-12 12:10:10 -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
Tigran Gasparian
d9e36935e6 Adds extra information about the UserData in the notifications. 
When using the USER_DATA_ADDED and USER_DATA_REMOVED notifications, some
more information is necessary than just the user data id, especially
when a user data entry has been removed.
 2019-02-12 12:02:20 +01:00
erwincoumans
42369aa47d PyBullet.changeDynamics: expose jointDamping 
PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
 2019-02-04 21:06:43 -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
b257bd731b PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture. 2019-01-29 12:03:11 -08:00
erwincoumans
52c8e14646 deal with 1-DOF and 3-DOF joints separately in resetJointState, fixes Issue 2076 2019-01-26 17:53:10 -08:00