Erwin Coumans
1e8f39b492
improve premake4 build in case X11 headers are missing
...
improve video_sync_mp4.py example
allow to create a heightfield from file or programmatically in C++ robotics api. Example:
{
b3RobotSimulatorCreateCollisionShapeArgs shapeArgs;
shapeArgs.m_shapeType = GEOM_HEIGHTFIELD;
bool useFile = true;
if (useFile)
{
shapeArgs.m_fileName = "D:/dev/bullet3/data/heightmaps/gimp_overlay_out.png";
shapeArgs.m_meshScale.setValue(.05, .05, 1);
}
else
{
shapeArgs.m_numHeightfieldColumns = 256;
shapeArgs.m_numHeightfieldRows = 256;
shapeArgs.m_meshScale.setValue(.05, .05, 1);
shapeArgs.m_heightfieldData.resize(shapeArgs.m_numHeightfieldRows * shapeArgs.m_numHeightfieldColumns);
double heightPerturbationRange = 0.05;
for (int j = 0; j<int(shapeArgs.m_numHeightfieldColumns / 2); j++)
{
for (int i = 0; i < (int(shapeArgs.m_numHeightfieldRows / 2)); i++)
{
double height = ((double)rand() / (RAND_MAX)) * heightPerturbationRange;
shapeArgs.m_heightfieldData[2 * i + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
shapeArgs.m_heightfieldData[2 * i + 1 + 2 * j * shapeArgs.m_numHeightfieldRows] = height;
shapeArgs.m_heightfieldData[2 * i + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
shapeArgs.m_heightfieldData[2 * i + 1 + (2 * j + 1) * shapeArgs.m_numHeightfieldRows] = height;
}
}
}
int shape = sim->createCollisionShape(shapeArgs.m_shapeType, shapeArgs);
b3RobotSimulatorCreateMultiBodyArgs bodyArgs;
bodyArgs.m_baseCollisionShapeIndex = shape;
int groundId = sim->createMultiBody(bodyArgs);
int texId = sim->loadTexture(shapeArgs.m_fileName);
b3RobotSimulatorChangeVisualShapeArgs args;
args.m_objectUniqueId = groundId;
args.m_linkIndex = -1;
args.m_textureUniqueId = texId;
sim->changeVisualShape(args);
}
2020-07-24 18:09:13 -07:00
Erwin Coumans
1de2269b6e
add removeState in C++ API, see also Issue https://github.com/bulletphysics/bullet3/issues/2935
2020-07-17 15:04:54 -07:00
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
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
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
Erwin Coumans
4c6e3daf5e
made char* in addUserDebugParameter const
2020-01-24 08:43:20 -08:00
Erwin Coumans
8ebdf7862c
fix b3RobotSimulatorClientAPI_NoDirect::changeConstraint API
2020-01-09 17:56:21 -08:00
Erwin Coumans
5cd4647943
fix submitProfileTiming API in b3RobotSimulatorClientAPI_NoDirect
2020-01-09 10:40:14 -08:00
Xuchen Han
6a8973d2f4
address PR comment and tune parameters for cloth
2019-12-19 21:51:54 -08:00
Xuchen Han
f65a8b03c0
separate deformable contact solve by islands WIP
2019-12-17 18:27:23 -08:00
Xuchen Han
d38ea87027
add gripper with deformable cloth demo
2019-12-13 14:33:54 -08:00
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
Chuyuan Fu
bea2f6e65a
Turn off self-collision for FixJointBoxes example
2019-03-11 13:12:49 -07:00
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
Erwin Coumans
2d224cf319
revert backward compabitility in API
2018-10-20 19:44:39 -07:00
erwincoumans
ed49edc1af
PyBullet change API (since it was broken): pybullet_changeVisualShape with textureUniqueId ==-1 will clear the texture
...
b3InitUpdateVisualShape doesn't take textureUniqueId by default. new API b3UpdateVisualShapeTexture to change texture (-1 will clear texture)
PyBullet/BulletRobotics: allow to reset the textureUniqueId to -1, to clear a texture
PyBullet/BulletRobotics: save all texture handles
2018-10-20 15:56:56 -07:00
erwincoumans
ab8f16961e
Code-style consistency improvement:
...
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 14:17:31 -07:00
erwincoumans
9e2f6c7935
more GRPC work
2018-09-03 23:13:15 -07:00
Erwin Coumans
ff43cea263
Fix some deactivation issues with btMultiBodyDynamicsWorld, should also improve performance for PyBullet with larger worlds
...
(even when sleeping is disabled, islands are split)
2018-08-26 16:14:36 -07:00
mbennice
780b280181
Allow current positions for Calculate IK.
...
Allows the user to specify the current positions of joints when
calculating Inverse Kinematics.
2018-08-23 13:19:15 -07:00
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
YunfeiBai
1c0de3c4cb
Add the pdControlPlugin to the joint control C API, and add the PD control mode (also available in pybullet). Modify the pdControl pybullet example to use the PD control mode with setJointMotorControl API.
2018-06-15 17:59:26 -07:00
Erwin Coumans
c27fb4003e
path -> const
2018-06-12 21:26:34 -07:00
erwincoumans
a342af0382
remove getLinkState from API, it automatically calculated forwardKinematics and propagates velocities, which is very expensive.
2018-06-11 23:49:34 -07:00
erwincoumans
3eebcd40ca
exposed a few more methods in the C++ b3RobotSimulatorClientAPI (_NoDirect base class)
2018-06-09 19:40:12 -07:00
erwincoumans
7ac3e263ab
add saveStateToMemory/restoreStateFromMemory/setAdditionalSearchPath/getAPIVersion to Bullet Robotics API.
2018-06-09 13:54:22 -07:00
Erwin Coumans
6ca3fe18f5
fix previous commit
2018-06-06 16:33:52 -07:00
Erwin Coumans
1bcb54dc29
remove some warnings
2018-06-06 16:10:20 -07:00
erwincoumans
b6f5cb4c34
enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp)
...
add pdControl.py example, make pdControlPlugin functional
reduce memory usage
fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
2018-06-05 15:59:01 -07:00
Erwin Coumans
7bd84740d7
PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin
...
Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
2018-06-05 11:41:41 +10:00
