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Commit Graph

1239 Commits

Author SHA1 Message Date
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
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 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 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 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 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 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 from xhan0619/master
Add position error into deformable vs. rigid contact
2020-01-11 16:05:15 -08:00
erwincoumans
a9615258d3
Merge pull request 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 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