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1403 Commits

Author SHA1 Message Date
erwincoumans
ccafe333d1
Merge pull request #3979 from johbrust/deformableForces 
Add deformable contact forces info
 2021-11-13 22:32:43 -08:00
erwincoumans
88c04a8eae
Merge pull request #4016 from stephentu/patch-1 
Fix bug in server handling of inverse dynamics
 2021-11-12 05:28:32 +00:00
Chuyuan Fu
a2aada62ae add user data to deformable urdf 2021-10-29 17:46:03 -07:00
Stephen Tu
63446558cd
Fix bug in server handling of inverse dynamics 
The current implementation of processInverseDynamicsCommand has two issues:

1. For floating bases, the handler is not properly copying over the position and orientation from the client inputs.
2. For floating bases, the handler is ignoring the position of the joint angles from the client inputs. 

This CL fixes both issues. While the fix for (2) is straightforward, I am not sure whether or not the right pybullet API convention is to have (x, y, z, orn) passed in, or instead (orn, x, y, z). The former makes more sense to me and is what I implemented.
 2021-10-28 12:52:15 -07:00
Tigran Gasparian
740d2b9783 Adds a request body info command for the physics direct command. This is 
useful to incrementally sync the body state in the physics clients of
plugins (e.g. in response to a Body Added notification).
 2021-10-26 18:31:33 +02:00
Johannes Brust
61d5bdb783 Fix bug due to missing swap 2021-10-21 17:38:13 +02:00
Johannes Brust
5795bd676f Add deformable contact forces info 
- add contact information for collisions between rigid and soft bodies
- collisions between different soft bodies are not supported
- uses impulse acting on tetrahedral nodes for calculation of forces
- contact points are approximated by node positions
- multiple forces acting on identical nodes are accumulated
 2021-09-28 22:39:31 +02:00
erwincoumans
9c37ca5185
Merge pull request #3950 from bttner/fix_external_force_command 
Fix: reference frame issue of external force command processor (Physics Server)
 2021-09-20 14:34:52 -07:00
Erwin Coumans
87605ca4c8 revert linkNames in createMultiBody, we cannot pass pointers pointing to local memory (storing the string) around into shared memory or over the network. 2021-09-20 12:22:30 -07:00
erwincoumans
b638300fe4
Merge pull request #3951 from erwincoumans/master 
implement resetMeshData for deformable bodies, fix tiny_renderer standalone example
 2021-09-02 18:03:23 -07:00
Erwin Coumans
b6df08b553 implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms. 2021-09-02 17:27:05 -07:00
Felix Büttner
4b6ec20b30 External force and torque frame fix 2021-09-02 17:40:18 +02:00
Chuyuan Fu
e16c9bb1cc implement request deformable contact info 2021-08-18 18:48:35 -07:00
erwin coumans
adcf785a4a re-enable eGUIHelperSetRgbBackground 2021-05-07 09:07:40 -07:00
Erwin Coumans
cd76d605a9 more fixes for tsan 2021-05-07 15:37:56 +00:00
erwin coumans
f14911c998 fix a tsan test failure 2021-05-06 18:34:43 -07:00
erwin coumans
e952ac6f63 Add pybullet.configureDebugVisualizer(rgbBackground=[red,green,blue]) (each component a float in the range [0,1]) 
This is an alternative to passing options="--background_color_red=red --background_color_green=green --background_color_blue=blue" in the connect method.
 2021-05-06 18:08:22 -07:00
erwin coumans
b696ed7d7b enable roll angle in pybullet.computeViewMatrixFromYawPitchRoll / b3ComputeViewMatrixFromYawPitchRoll 2021-04-28 12:13:31 -07:00
Erwin Coumans
c915e82d49 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-22 16:20:31 -07:00
erwin coumans
a5761f2b10 pybullet: getDynamicsInfo report local inertia diagonal for useMaximalCoordinates 2021-04-20 20:20:55 -07:00
erwin coumans
e58e5bdf95 PyBullet: 
expose pybullet.changeDynamics(sleepThreshold), default 0.05, for both useMaximalCoordinates=False and True
When the dot(vel,vel) < sleepThreshold for longer than 2 seconds (this timeout is hard coded) objects that have the ACTIVATION_STATE_ENABLE_SLEEPING enabled with be deactivated
Example:
p.changeDynamics(ob, -1, activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING, sleepThreshold=0.05)
 2021-04-20 11:29:27 -07:00
erwin coumans
78f5b141f9 fix for 'useMaximalCoordinates' rigid body in PyBullet: activate a rigid body after picking 2021-04-20 10:24:09 -07:00
erwin coumans
84a63cf221 allow to use the useMultiBody argument for loadMJCF command 
note that for dynamic and static objects (without joints) it is best to set useMultiBody=False
 2021-04-19 20:37:26 -07:00
Erwin Coumans
973d8c128f Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-07 22:13:18 -07:00
erwin coumans
8b8c1af6a4 Cleaned-up/fixed version of this Pull Request #3239, thanks to Wenlong Lu 2021-04-05 11:40:45 -07:00
Erwin Coumans
58d47935a3 Merge remote-tracking branch 'bp/master' 2021-03-26 11:53:37 -07:00
erwin coumans
d1c4c41b9a add performCollisionDetection (stepSimulation also calls this, but does more, including solving constraints and integration) 2021-03-26 10:31:13 -07:00
erwincoumans
93be7e6440
Merge pull request #3311 from erwincoumans/master 
allow to compile pybullet using btDiscreteDynamicsWorld (no btMultiBody, no btSoftBody, no btDeformableBody)
 2021-03-26 10:29:04 -07:00
erwin coumans
0196edd4d2 update single aabb, during resetJointState/resetBasePositionAndOrientation, to allow raycast/collision queries. 2021-03-26 09:11:59 -07:00
erwin coumans
6f7d458679 add missing line in previous commit 2021-03-16 18:17:23 -07:00
erwincoumans
395e17c7bf
Merge pull request #3238 from yycho0108/add-link-names-to-createmultibody 
Add linkNames argument to CreateMultibody
 2021-03-15 22:48:33 -07:00
erwin coumans
5cf8ee3360 Allow to compile pybullet using btDiscreteDynamicsWorld (no multibodies and no deformables), this allows to create Jacobian and Mass matrix (and A=J*M-1*J_transpose) with MLCP solvers 
Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)
 2021-03-15 22:44:55 -07:00
erwincoumans
537ccb2200
Merge pull request #3237 from glebm/fix-pthread 
CMake: Use Threads instead of pthread directly
 2021-01-23 10:26:58 -08:00
Gleb Mazovetskiy
d248271e38 CMake: Also link Threads correctly in examples/ 2021-01-20 18:20:43 +00:00
yycho0108
6f65a12b3a no nullptr 2021-01-20 16:45:23 +09:00
yycho0108
c0d9553d65 add link names args to CreateMultibody 2021-01-20 15:53:24 +09:00
Erwin Coumans
375d7097e4 don't postpone release for remote visualizer (otherwise it blocks forever) 2020-12-23 10:42:25 -08:00
Erwin Coumans
6d1dae286b GraphicsServerExample, disallow COV_ENABLE_SINGLE_STEP_RENDERING 2020-12-22 17:10:51 -08:00
Erwin Coumans
c97f09cf66 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2020-12-15 16:24:36 -08:00
Erwin Coumans
93575a2e38 fix changeDynamics for to set lower/upper joint limits and joint limit max force 2020-12-15 16:24:24 -08:00
Erwin Coumans
3e16c616d5 cmake OPTION(USE_OPENVR OFF) so only compile OpenVR VR examples when explicitly set to ON 
to avoid breaking builds
 2020-12-04 08:52:28 -08:00
erwincoumans
272c7099d3
Merge pull request #3090 from ErikGartner/master 
Revert 32277c
 2020-11-25 09:25:46 -08:00
erwincoumans
875a6a4446
Merge pull request #3153 from WenlongLu/kinematic_multibody_interface 
SharedMemory interface to set and get dynamic types
 2020-11-18 11:05:03 -08:00
erwincoumans
464bbc4ddd
Merge pull request #3089 from Steven89Liu/fixDOF 
we should use the m_jointMotorForceMultiDof which is indexed by degree
 2020-11-13 10:06:52 -08:00
WenlongLu
21836afb97 Add share memory commands for user to change object dynamic types 2020-11-11 22:41:33 -08:00
erwincoumans
da28ca734a
Update b3PluginManager.cpp 2020-11-03 09:47:38 -08:00
erwincoumans
edbce66542
Update b3PluginManager.cpp 2020-10-29 17:06:18 -07:00
Erwin Coumans
e21c6c9f46 fix compile issues 2020-10-28 19:18:33 -07:00
Erwin Coumans
49be2cffaa improvement in b3PluginManager, hashing the postfix if available 
(allows to load a plugin in the current executable instead of from disk)
 2020-10-28 11:06:26 -07:00
erwincoumans
fea468d241
Update RBDModel.h 
destructor needs to be virtual
 2020-10-08 14:10:08 -07:00