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Author SHA1 Message Date
Erwin Coumans
08b5e6d766 add collisionFilterPlugin to pybullet plugin, also apply quat->euler fix for singular cases 2018-07-30 17:53:37 +02:00
Erwin Coumans
2000ba9058 handle singularity (gimbal lock) in quaternion -> euler conversion, 
from e7e0972a46/urdf_model/include/urdf_model/pose.h (L103)
 2018-07-30 17:30:19 +02:00
Erwin Coumans
e75178181d safe normalize on degenerate triangles 2018-07-30 12:21:02 +02:00
Erwin Coumans
5dd7a62397 Disable CProfileManager by default. 
Use btSetCustomEnterProfileZoneFunc(CProfileManager::Start_Profile) and
btSetCustomLeaveProfileZoneFunc(CProfileManager::Stop_Profile) to get old behavior.
 2018-07-30 12:07:32 +02:00
Erwin Coumans
2cab56d6ef prepare build system(s) for collisionFilterPlugin 2018-07-27 15:48:24 +02:00
erwincoumans
8b27a7311c
Merge pull request #1801 from RanTig/TickPlugins 
Notify plugins on certain events (e.g. body added).
 2018-07-27 14:58:55 +02:00
erwincoumans
fa41e2945c
Merge pull request #1804 from erwincoumans/master 
fix memory leak reported in Issue #1800
 2018-07-27 14:50:45 +02:00
Erwin Coumans
d7c68dd822 fix leak 2018-07-27 10:13:09 +02:00
Erwin Coumans
a696bd6a46 fix memory leak reported in Issue #1800 
avoid access to array elements outside of range
 2018-07-25 19:59:29 +02:00
Tigran Gasparian
35a55b2056 Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR. 2018-07-25 14:47:34 +02:00
erwincoumans
0c66696e19
Merge pull request #1803 from mbeards/id_macro_collision 
Renamed error_message and warning_message macros.
 2018-07-24 22:54:03 +02:00
erwincoumans
27b3241ff1
Merge pull request #1802 from erwincoumans/master 
use the maximum square residual instead of sum
 2018-07-24 20:46:01 +02:00
Michael Beardsworth
3f03b41091 Renamed error_message and warning_message macros. 
error_message and warning_message are common strings that are likely to
collide. Renamed to bt_id_{error,warning}_message to more strongly
uniquify.

grep -r error_message -l src/BulletInverseDynamics | \
  xargs sed -i -e "s/error_message/bt_id_error_message/g"

grep -r warning_message -l src/BulletInverseDynamics | \
  xargs sed -i -e "s/warning_message/bt_id_warning_message/g"
 2018-07-24 11:32:08 -07:00
Tigran Gasparian
f745eafb36 Changes dynamic_cast<> to c-style cast. 2018-07-24 16:04:16 +02:00
Erwin Coumans
f0c8bbf1a1 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-07-24 15:21:12 +02:00
Erwin Coumans
f91e5c573c use the maximum square residual instead of sum 2018-07-24 15:20:34 +02:00
Tigran Gasparian
c59afb88c4 Notify plugins on certain events (e.g. body added). 
This also adds a periodic tick function to plugins, giving them periodically control over the simulation thread, even when the simulation is paused.
 2018-07-24 14:12:16 +02:00
erwincoumans
0e1dce41ea
Merge pull request #1799 from erwincoumans/master 
in solver,  body1 -> bodyA and body2 -> bodyB
 2018-07-22 20:14:45 +02:00
Erwin Coumans
bd7c3825bb Merge remote-tracking branch 'bp/master' 2018-07-22 13:04:44 +02:00
Erwin Coumans
7a27cb1739 body1 -> bodyA and body2 -> bodyB 2018-07-22 13:03:53 +02:00
erwincoumans
defd961f60
Merge pull request #1798 from erwincoumans/master 
Change constraint solver threshold-based termination condition on res…
 2018-07-22 12:28:32 +02:00
Erwin Coumans
b5495e789d Change constraint solver threshold-based termination condition on residual of velocity threshold, not on residual of impulse threshold. 
This avoids issues with systems with large mass ratios.

Test: add this to BasicDemo/BasicExample.cpp in initPhysics

	m_dynamicsWorld->getSolverInfo().m_numIterations = 1000;
	m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-4;
 2018-07-22 11:30:16 +02:00
erwincoumans
c254768d1a
Merge pull request #1793 from jslee02/fix_build_clang6 
Fix build errors with Clang 6 (also resolve #1510)
 2018-07-19 09:20:42 +02:00
Jeongseok Lee
8b26945f8f Fix build errors with Clang 6 (also addresses #1510) 2018-07-18 12:02:36 -07:00
Jeongseok Lee
8857638ded Revert C++ code changes to make the PR small 2018-07-18 11:57:34 -07:00
erwincoumans
a8d81eb155
Merge pull request #1787 from jslee02/multibody_cleanup 
Minor code optimization in multibody forward dynamics
 2018-07-18 10:19:02 +02:00
Jeongseok Lee
b3d8639004
Run apt-get update before installing python3-pip 2018-07-10 11:26:00 -07:00
Jeongseok Lee
6323309f89 Fix c++11-narrowing errors in multibody examples 2018-07-10 09:22:41 -07:00
Jeongseok Lee
6f27baf392 Revert "Fix c++11-narrowing errors in multibody examples" 
This reverts commit 64db9af036.
 2018-07-10 09:21:49 -07:00
Jeongseok Lee
64db9af036 Fix c++11-narrowing errors in multibody examples 2018-07-10 09:20:00 -07:00
Jeongseok Lee
3d1cd749b4 Add Travis CI settings for Xenial and Bionic 2018-07-09 21:57:57 -07:00
Jeongseok Lee
deea2bb411 Use const reference for referencing existing members 2018-07-09 20:59:29 -07:00
Jeongseok Lee
6dbdf02808 Minor code optimization in multibody forward dynamics 2018-07-09 20:54:13 -07:00
Jeongseok Lee
15258fbdcc Merge remote-tracking branch 'upstream/master' into multibody_cleanup 2018-07-09 14:58:23 -07:00
erwincoumans
3d5c921495
Merge pull request #1782 from RanTig/userdata 
Changes UserData to use global identifiers and makes linkIndex optional.
 2018-07-09 11:36:51 +02:00
erwincoumans
d6aae09290
Merge pull request #1780 from erwincoumans/master 
PyBullet: preliminary DART and MuJoCo backend code (mostly empty placeholders)
 2018-07-09 11:25:33 +02:00
Erwin Coumans
f8cc33f3a3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-07-08 11:24:37 +02:00
Erwin Coumans
127b82ec1b expose texture unique id after loading URD file, so you can restore to the original texture after changing it to a custom texture. See also getTextureUid.py example. 2018-07-08 11:23:12 +02:00
Tigran Gasparian
49684144dc Some minor formatting fixes 2018-07-05 16:01:03 +02:00
Tigran Gasparian
8a6db042de Removes int initializer in SharedMemoryUserDataHashKey, changes '>>' into '> >' for nexted templates. 2018-07-04 14:25:48 +02:00
Tigran Gasparian
7c7e8af717 Increases the shared memory magic number. 2018-07-04 10:22:44 +02:00
Erwin Coumans
2ce1e65b53 PyBullet: tweak in TCP server for VR - ROS bridge 2018-07-03 16:30:54 -07:00
Erwin Coumans
c0183d4834 Merge remote-tracking branch 'bp/master' 2018-07-03 16:28:45 -07:00
Tigran Gasparian
9c7aa3a863 Changes UserData to use global identifiers and makes linkIndex optional. 
This removes the need to specify the body id/link index when retrieving a user data entry.
Additionally, user data can now optionally be set to visual shapes as well.

The following public pybullet APIs have changed (backwards incompatible)
addUserData and getUserDataId
  Makes linkIndex parameter optional (default value is -1)
  Adds optional visualShapeIndex parameter (default value is -1)

getUserData and removeUserData
  Removes required parameters bodyUniqueId and linkIndex

getNumUserData
  Removes required bodyUniqueId parameter

getUserDataInfo
  Removes required linkIndex parameter
  Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
 2018-07-03 17:45:19 +02:00
erwincoumans
23f235e449 PyBullet: add example to enable another physics engine backend (DART, MuJoCo) 2018-07-01 14:49:34 -07:00
erwincoumans
98fc4b1510 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-07-01 14:42:48 -07:00
erwincoumans
0d8564db22 PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. 
PyBullet: add 2d biped example.,
 2018-07-01 14:42:32 -07:00
Erwin Coumans
bfc85ff1fd PyBullet: TCP connection, optimized getVREvents to allow faster Windows -> Linux Vive tracking state communication. 2018-06-27 23:43:42 -07:00
erwincoumans
04556502f0
Merge pull request #1778 from erwincoumans/master 
fix hidden API
 2018-06-27 09:21:11 -07:00
Erwin Coumans
ac59886960 fix hidden API 2018-06-27 07:39:56 -07:00