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1333 Commits

Author SHA1 Message Date
Erwin Coumans
daa0a27403 add reportHitNumber to allow reporting a specific ray intersection hit 
(by default, pybullet.rayTestBatch reports the closest hit, so you can report 2nd closest or 3rd closest hit etc)
Fix pybullet.createCollisionShape, in some cases (concave trimesh, convex mesh) two instances were created.
 2020-05-07 23:23:24 -07:00
Erwin Coumans
d479ca712c allow to call getDebugVisualizerCamera in DIRECT mode (returns all 0) 2020-05-05 03:15:26 +00:00
Erwin Coumans
8719ac6c95 soft body is not enabled in the test 2020-05-05 02:46:19 +00:00
erwincoumans
ca50714996
Merge pull request #2775 from xhan0619/splitImpulse 
Split impulse
 2020-04-29 20:00:00 -07:00
Xuchen Han
eefec255cf Merge remote-tracking branch 'origin/master' into splitImpulse 2020-04-27 20:29:06 -07:00
Chuyuan Fu
4e1fa56104 updateVisualShape for softbody 
fix

fix space
 2020-04-27 20:08:32 -07:00
Xuchen Han
5f1260199a set appropriate repulsion stiffness for pybullet torus demo 2020-04-27 20:05:16 -07:00
Xuchen Han
ae3526254d add API for setting repulsion stiffness 2020-04-27 17:42:45 -07:00
Erwin Coumans
6268c5d105 conditionally compile btSoftBody only if not SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD 2020-04-23 16:24:03 -07:00
erwincoumans
3dbe5426bf
Merge pull request #2766 from erwincoumans/master 
fix getContactPoint issue in case of swapped link indices, thanks to …
 2020-04-23 15:05:03 -07:00
Erwin Coumans
ba5f8db0cf fix getContactPoint issue in case of swapped link indices, thanks to Jonas Gehring for the report 2020-04-23 14:04:53 -07:00
erwincoumans
e1f5729963
Merge pull request #2757 from erwincoumans/master 
fixes for tcp server, allow createCollisionShape to load stl
 2020-04-22 08:53:07 -07:00
Erwin Coumans
cbb459f5d4 fixes for TCP connection: report serverStatusOut.m_numDataStreamBytes when storing results in bufferServerToClient 2020-04-21 12:15:44 -07:00
erwincoumans
687780af6b
Merge pull request #2745 from xhan0619/fix-rayTest-crash 
fix rayTest crash for btSoftBody
 2020-04-21 07:57:30 -07:00
Erwin Coumans
9cf93cebfd allow createCollisionShape to load stl. Still, it is best to convert it to obj and use v-hacd for concave shapes. 2020-04-20 20:59:32 -07:00
Erwin Coumans
a8e2eb44e9 remote origin coordinate frame debug lines from egl renderer 2020-04-16 09:44:19 -07:00
Xuchen Han
ed3b697320 fix rayTest crash for btSoftBody 2020-04-14 17:13:00 -07:00
Xuchen Han
5498c575c8 add guard agaist non-manifold geometry in vtk files 2020-04-09 11:16:28 -07:00
Chuyuan Fu
59ddea6fa4 bodyUniqueId can be 0 2020-04-07 13:38:26 -07:00
erwincoumans
9d1a2c4c57
Merge pull request #2711 from fuchuyuan/loadURDF 
Load urdf
 2020-04-06 20:31:28 -07:00
stolk
4c2eb79f29 Fix compiler warning. 2020-04-03 09:47:28 -07:00
Chuyuan Fu
c2ea0293d8 fix mesh finding and notification 2020-04-01 20:48:09 -07:00
erwincoumans
ec2b6dd920
Merge pull request #2704 from stolk/master 
Compiler warnings.
 2020-04-01 19:19:37 -07:00
Erwin Coumans
d2ffab8905 fix previous leak fix 2020-04-01 18:32:58 -07:00
stolk
f4d8f5d6de Don't go out of bounds. 2020-04-01 11:28:50 -07:00
Chuyuan Fu
3c46e6a584 load deformable object from URDF files 2020-03-31 20:55:47 -07:00
Erwin Coumans
762c21601f cache zipfile, and also allow to read zipfile from memory 
this allows zipfiles to be stored anywhere in already registed fileIO (such as zipfiles inside other zipfiles)
see Bullet/examples/pybullet/examples/fileIOPlugin.py
enable vhacd, fileIO and zipFileIO in premake version of PyBullet
fix potential memory leak in mtl loading
 2020-03-30 14:24:20 -07:00
Erwin Coumans
e20b858a28 add pybullet_utils.transformations from ROS geometry: 
https://github.com/ros/geometry/blob/melodic-devel/tf/src/tf/transformations.py
 2020-03-24 10:34:02 -07:00
erwincoumans
dd2f2e3128
Merge pull request #2682 from xhan0619/master 
Add support for getPose for deformable objects and separate deformable vs. rigid face contact and deformable vs. multibody face contact for flexibility.
 2020-03-22 18:44:18 -07:00
Erwin Coumans
bd8c537c86 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-03-22 20:12:21 -07:00
Erwin Coumans
7d499c4e2d fix userDataTest.py 2020-03-22 20:12:07 -07:00
Erwin Coumans
0b6457d318 fix cmake/premake builds 2020-03-22 11:58:39 -07:00
Erwin Coumans
e09dc74bd8 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-03-21 18:52:30 -07:00
Erwin Coumans
d71a787481 more tcp networking stuff (remove shared memory from tcp example) 2020-03-21 18:47:55 -07:00
Erwin Coumans
663c7ddc54 more TCP remote fixes 2020-03-20 21:12:45 -07:00
Erwin Coumans
1e3bc22483 linux fixes 2020-03-20 20:19:15 -07:00
Erwin Coumans
c4898ed3e3 more tcp tuning 2020-03-20 18:46:10 -07:00
Erwin Coumans
6cedf26f24 more tcp fixes 2020-03-20 17:47:13 -07:00
Erwin Coumans
4cbc8c2a8d set tcp timeouts for send/receive 2020-03-20 16:58:18 -07:00
Erwin Coumans
99c7c32b10 tcp fixes and allow to run graphics server on mainloop (for Mac) 2020-03-20 16:50:44 -07:00
Erwin Coumans
911355fe62 fixes for Mac OSX 2020-03-20 15:57:19 -07:00
Erwin Coumans
344bd629ee embed TCP graphics server in PyBullet for easier working-from-home 
This allows to render at a different machine, sending all assets across the TCP network, using port 6667 by default.
You can use ssh port forwarding to get this working:
ssh -R 6667:localhost:6667 username@remotehost.com -v

python3 -m pybullet_utils.graphicsServer
python3 -m pybullet_utils.graphicsClient

Note that there are still some tcp networking issues that can cause a hang, just restart graphics server and graphics client if it hangs.
 2020-03-20 15:43:52 -07:00
Erwin Coumans
c06859723b Embed graphics server (shared memory) in PyBullet. Use pybullet.connect(pybullet.GRAPHICS_SERVER) to enable it. 
TODO: enable for Mac OSX on mainloop, add tcp bridges from and to shared memory.
 2020-03-19 14:18:35 -07:00
Xuchen Han
5d26efd988 formatting and minor bug fix 2020-03-19 12:29:00 -07:00
Xuchen Han
19ed1c952a separate face contact between deformable and rigid and multibodies 2020-03-18 17:58:46 -07:00
Xuchen Han
cab8b84a8f Support get body state for deformable objects so that it retrieves the best fit rigid transform 2020-03-18 17:11:20 -07:00
Erwin Coumans
d31c248751 fixes for compilation on Visual C++ for Python 9.0 
bump up to PyBullet 2.6.9
 2020-03-17 17:10:47 -07:00
Erwin Coumans
1640eef937 pybullet: enable getMeshData for multibody/rigid body (and filter on collisionShapeIndex for compound shapes) 2020-03-17 00:38:12 -07:00
Erwin Coumans
7991012f9d pybullet: fixes in polyhedral feature generation 2020-03-16 23:32:26 -07:00
Erwin Coumans
27fbbfee7f pybullet removeAllParameters (sliders, buttons) 
pybullet addUserDebugParameter adds button instead of slider, if min > max.
 2020-03-16 21:29:30 -07:00
erwincoumans
07b9194e15
Merge pull request #2667 from xhan0619/teleport 
Teleport deformables
 2020-03-15 21:12:26 -07:00
Xuchen Han
27d2cdaef0 Merge remote-tracking branch 'xuchen/master' into teleport 2020-03-15 19:29:06 -07:00
erwincoumans
e8c873a5cd
Merge pull request #2672 from erwincoumans/master 
embed V-HACD directly into PyBullet
 2020-03-15 19:18:11 -07:00
Erwin Coumans
f0528db5e9 embed V-HACD directly into Pybullet to make it easier to use: 
pip3 install pybulle
import pybullet as p
p.connect(p.DIRECT)
p.vhacd("teddy.obj", "teddy_large_newout.obj", "newlog.txt", depth=2,resolution=1000000)
 2020-03-16 00:38:52 -07:00
Chuyuan Fu
f43c40f694 fix space 2020-03-13 14:52:13 -07:00
Chuyuan Fu
b4bfe4fa99 fix rigidbody activation 2020-03-13 14:52:13 -07:00
Xuchen Han
4b35af3830 change deformable teleport to absolute pose 2020-03-12 16:40:25 -07:00
Xuchen Han
6e97302610 activate deformable after teleporting 2020-03-12 16:39:28 -07:00
Xuchen Han
cbf282fb2f Add support for teleporting deformables 2020-03-12 16:39:28 -07:00
Chuyuan Fu
d02989cc96 fix space 2020-03-05 10:50:54 -08:00
Chuyuan Fu
b37448278a fix rigidbody activation 2020-03-05 10:48:56 -08:00
Xuchen Han
4efc983ca5 bug fixes and parameter tuning 2020-03-04 17:22:46 -08:00
Xuchen Han
62537436f2 more Motor->NonContactInner 2020-03-02 16:03:27 -08:00
Xuchen Han
4f36e09747 Motor->NonContactInner 2020-03-02 16:00:40 -08:00
Xuchen Han
c86da93d58 fix type error 2020-03-02 13:29:59 -08:00
Xuchen Han
a6bc125945 formatting 2020-03-02 12:12:04 -08:00
Xuchen Han
dbf2050269 extrapolate render mesh 2020-03-02 12:12:04 -08:00
Xuchen Han
7ad19fde6f formatting 2020-02-26 14:16:51 -08:00
Xuchen Han
84117b8440 separate motor constraint iterations and expose API 2020-02-26 14:11:41 -08:00
Erwin Coumans
e29ba9fe5c add option to merge fixed links in URDF file (improves performance, can handle URDF files with many fixed links) 
add option to ignore visual and collision shapes in URDF file
 2020-02-21 15:04:26 -08:00
Erwin Coumans
6910fc9229 initialize capsule from_to field 2020-02-21 02:05:01 -08:00
Erwin Coumans
0617f4f3cd expose computeDofCount to pybullet 
expose computeDofCount and calculateMassMatrix to BulletRobotics C++ API
(all untested)
 2020-02-14 19:58:32 -08:00
Erwin Coumans
6afa0a463d unsupported: expose collisionMargin to changeDynamics/getDynamicsInfo. 
add cube_convex.urdf for testing this collisionMargin. Test script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_implicit.urdf")
cube = p.loadURDF("cube_convex.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
	p.stepSimulation()
	pts = p.getContactPoints()
	p.changeDynamics(plane,-1,collisionMargin=0.3)
	p.changeDynamics(cube,-1,collisionMargin=0.3)
	print("===================")
	print("cube pos=", p.getBasePositionAndOrientation(cube)[0])
	print("margin=", p.getDynamicsInfo(plane,-1)[11])
	#time.sleep(1./10.)
 2020-02-14 17:36:40 -08:00
erwincoumans
b809cdef5b
Merge pull request #2608 from erwincoumans/master 
implement b3RobotSimulatorClientAPI_NoDirect::createVisualShape
 2020-02-06 09:00:05 -08:00
Erwin Coumans
d0f895fbbd Merge branch 'master' of https://github.com/erwincoumans/bullet3 2020-02-04 20:59:26 -08:00
Erwin Coumans
401abd9ebc implement b3RobotSimulatorClientAPI_NoDirect::createVisualShape 2020-02-04 20:58:15 -08:00
Tigran Gasparian
19075f75b2 Only clear the user data cache when a full user data sync is requested. 2020-02-03 15:24:12 +01:00
erwincoumans
7380a55ba7
Merge pull request #2594 from RanTig/SyncSingleBodyUserData 
Adds an option to syncUserData to specify the bodies for which to sync.
 2020-01-29 19:23:44 -08:00
erwincoumans
9ac1dd6194
Merge pull request #2597 from erwincoumans/master 
made char* in addUserDebugParameter const
 2020-01-24 09:45:35 -08:00
Erwin Coumans
4c6e3daf5e made char* in addUserDebugParameter const 2020-01-24 08:43:20 -08:00
Tigran Gasparian
2403a22ebf Bump up shared memory magic number. 2020-01-23 16:58:32 +01:00
Tigran Gasparian
34db76d263 Adds an option to syncUserData to specify the bodies for which to sync. 2020-01-23 14:46:33 +01:00
Tigran Gasparian
899d53ee29 Added null check. 2020-01-21 19:40:22 +01:00
Tigran Gasparian
68d3fb28e0 Adds support for loading user data from URDF files. 2020-01-17 11:55:42 +01:00
erwincoumans
66ffa329c8
Merge pull request #2577 from xhan0619/master 
Add position error into deformable vs. rigid contact
 2020-01-11 16:05:15 -08:00
erwincoumans
a9615258d3
Merge pull request #2580 from erwincoumans/master 
add --mp4fps=30 command line parameter for ExampleBrowser, various other fixes
 2020-01-11 15:14:11 -08:00
Erwin Coumans
2336dfcb9e Remove a temporary global static work matrix in the BussIK, since it conflicts with multithreaded applications. 
Instead, let the user pass it in explicitly.
 2020-01-11 12:43:27 -08:00
erwincoumans
88826da6b5
Merge pull request #2576 from dmcconachie/DeformableGravity 
[BUGFIX] Update existing deformable gravity forces on gravity change.
 2020-01-09 21:30:48 -08:00
Erwin Coumans
8ebdf7862c fix b3RobotSimulatorClientAPI_NoDirect::changeConstraint API 2020-01-09 17:56:21 -08:00
Dale McConachie
b526c01bec Update existing deformable gravity forces on gravity change. 2020-01-09 16:24:32 -05:00
Erwin Coumans
5cd4647943 fix submitProfileTiming API in b3RobotSimulatorClientAPI_NoDirect 2020-01-09 10:40:14 -08:00
Erwin Coumans
07cdae8c6e also apply TinyRenderer remove shape fix for rigid body and soft body/deformable 2020-01-08 14:02:32 -08:00
Erwin Coumans
6fde189735 fix indexing issue removing graphics shape in tinyrenderer plugin (use getUserIndex3 instead of broadphase uid) 2020-01-08 13:49:41 -08:00
Xuchen Han
78a8ddb466 change default damping model for mass spring to the angular momentum conserving one 2019-12-31 14:08:21 -08:00
erwincoumans
830f0a9565
Merge pull request #2550 from xhan0619/master 
Group deformable constraint solves by islands
 2019-12-20 16:26:32 -08:00
Xuchen Han
6a8973d2f4 address PR comment and tune parameters for cloth 2019-12-19 21:51:54 -08:00
Erwin Coumans
7a4023430a fix pybullet.submitProfileTiming 2019-12-19 18:05:41 -08:00
Erwin Coumans
9c7e6d6a48 enable programmatic creation of spherical joint 2019-12-19 16:56:09 -08:00
Xuchen Han
4ab0387262 Merge remote-tracking branch 'origin/master' 
merge origin/master
 2019-12-18 23:18:16 -08:00
erwincoumans
7584847f33
Merge pull request #2537 from erwincoumans/master 
fix pybullet_envs path, pybullet version to 2.6.0, allow clang-cl on Windows
 2019-12-17 19:06:11 -08:00