Erwin Coumans
ad0994022d
allow streaming of data
2020-10-07 10:12:02 -07:00
Erwin Coumans
bc51ac3f0f
Support getCachedReturnData for PhysicsLoopBack
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re-use existing code path for streaming plugin return data (work-in-progress)
2020-10-07 08:24:33 -07:00
Erwin Coumans
954ceff2ec
Add an option for a plugin to report return data after calling executePluginCommand. Also add python binding.
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Currently the return data has to fit in shared memory, 8MB (Linux, Windows) or 1MB (Apple)
Preparation for streaming is added (to allow unlimited return data, see CMD_CUSTOM_COMMAND_STREAM_RETURN_DATA)
New C-API: b3GetStatusPluginCommandReturnData
PyBullet reports return data if available, in pybullet_executePluginCommand
For the plugin developer:
plugin can provide additional return data for executePluginCommand in the b3PluginContext, during executePluginCommand.
Lifetime of this m_returnData pointer is minimum of next call to the next executePluginCommand or plugin termination.
2020-10-06 20:19:39 -07:00
Erwin Coumans
6b91ecc0c5
allow to set changeDynamics(body, link, contactProcessingThreshold) for multibodies
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(set to 0 if restitution is important)
2020-10-05 16:33:41 -07:00
Erik Gärtner
777ab5a5ab
Revert "in case of substeps use the compensated delta time / numSubSteps to convert between force and impulse."
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This reverts commit 32277c7bd5
.
2020-10-02 15:49:23 +02:00
Steven89Liu
104789ca99
we should use the m_jointMotorForceMultiDof which is indexed by degree
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of freedom.
2020-10-01 15:58:45 +08:00
Erwin Coumans
d0dc96aa05
Merge remote-tracking branch 'bp/master'
2020-09-20 16:36:45 -07:00
Erwin Coumans
1bd82e7d81
allow rendering of (textured) heightfield in TinyRenderer and EGL.
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Also update normals, if heightfield is updated.
2020-09-20 16:03:56 -07:00
erwincoumans
7f4fdb16b3
Merge pull request #3061 from fuchuyuan/addAttributes
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add configurable parameters to urdf
2020-09-18 16:59:43 -07:00
Erwin Coumans
4f8f28233c
allow alternative deformable indexing (internal use/testing)
2020-09-17 03:15:44 -07:00
Chuyuan Fu
7d8379bad4
add configurable parameters to urdf
2020-09-14 12:34:21 -07:00
Erwin Coumans
e9f486eebb
narrow from double to float please
2020-09-13 18:32:52 -07:00
Erwin Coumans
0c2a54193c
fixes in cached textures (pointer re-use)
2020-09-13 16:49:13 -07:00
Erwin Coumans
f9a96442d1
disable texture caching in some place, due to pointer re-use issue
2020-09-13 16:24:42 -07:00
Erwin Coumans
f8288e029e
fix color for deformables, if texture is not specified
2020-09-13 16:07:42 -07:00
Erwin Coumans
9ae41971bc
re-enable pybullet.getVisualShapeData for deformables
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(was broken in previous commit)
2020-09-13 15:08:42 -07:00
Erwin Coumans
bd1bd36bc6
allow to change texture for deformables
2020-09-12 20:12:46 -07:00
Erwin Coumans
c58a54174e
allow to set color of deformables for debug visualizer
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don't render deformables for TinyRenderer/EGL if p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
Fix segmentation mask in tinyrenderer for deformables
2020-09-12 19:41:10 -07:00
Erwin Coumans
e00691e132
more deformable rendering fixes, egl and tinyrenderer
2020-09-12 18:15:51 -07:00
Erwin Coumans
1452cae641
* add textured models of ball.vtk (obj/mtl) and torus (obj/mtl) and cloth.
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1) allow to render deformables in 'getCameraImage', for TinyRenderer (tested OK) and EGL (untested)
2) allow to have textures for deformables. See deformable_ball.py, deformable_anchor.py and deformable_torus.py for examples
3) deformables: allow to request simulation mesh data (even if there is a render mesh) See deformable_anchor.py for an example usage
data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH)
4) fix deletion of deformables, thanks to Fychuyan, https://github.com/bulletphysics/bullet3/pull/3048
5) allow to enable and disable double-sided rendering, p.changeVisualShape(objectUid, linkIndex, flags=p.VISUAL_SHAPE_DOUBLE_SIDED)
6) fix GripperGraspExample, model not found
7) Fix deformable anchor not attaching to multibody with object unique id of 0
8) Fix issue with assignment of unique ids in TinyRenderer/EGL renderer (always use broadphase uid)
9) Avoid crash/issue of simulation with pinned vertices (mass 0) in btDeformableBackwardEulerObjective::applyExplicitForce
10) Store uv/normal in btSoftBody::RenderNode to allow textured meshes
11) (uncomment in btSoftBodyHelpers.cpp): dump vertices and indices in obj wavefront format, when loading a VTK file, for quicker creation of a (textured) surface mesh
12) allow interpolateRenderMesh also for old position-based soft bodies (not only the shiny new FEM deformables)
13) fix a few premake targets
14) update build_visual_studio_vr_pybullet_double_cmake.bat so it suits c:\python37 and installs locally
for local install of Bullet, see also this example https://github.com/erwincoumans/hello_bullet_cmake
2020-09-12 01:03:04 -07:00
Erwin Coumans
448dd1a244
Synchronize 'resetDebugVisualizeCamera' using GUI critical section instead of waiting for the render thread, to avoid slow-down
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Fixes issue https://github.com/bulletphysics/bullet3/issues/3045
2020-09-09 09:45:38 -07:00
Erwin Coumans
ccdec68b1d
expose shadowmap intensity to PyBullet API
2020-09-07 16:52:14 -07:00
Steven
8a16ed5009
fix the issue "Inconsistency between rayTest and rayTestBatch of pybullet #2887 "
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we should initialize these variables otherwise these will be random.
2020-09-03 20:30:14 +08:00
Erwin Coumans
f9abae073b
PyBullet: fix cases where contact point objects are swapped, reported here
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https://github.com/bulletphysics/bullet3/issues/3023
Thanks to ichumuh for the report and reproduction!
2020-09-01 09:27:05 -07:00
Erwin Coumans
55451b6bfc
Merge remote-tracking branch 'bp/master'
2020-08-20 17:16:07 -07:00
Erwin Coumans
9888e7b5a5
reset camera in the rendering thread to avoid artifacts
2020-08-20 09:08:37 -07:00
Erwin Coumans
bbb66370c6
reset camera in the rendering thread to avoid artifacts
2020-08-20 08:35:24 -07:00
erwincoumans
2c9a55da54
Update PhysicsServerCommandProcessor.cpp
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fix potential crash, if user doesn't provide valid body unique id in pybullet.setCollisionFilterGroupMask
2020-08-14 16:59:56 -07:00
Erwin Coumans
8504384b63
Merge branch 'master' of github.com:erwincoumans/bullet3
2020-08-13 16:41:33 -07:00
Erwin Coumans
306245d68b
fix potential memory leak in createMultiBody, reported by Fei Xia here (thanks for report/repro!)
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https://github.com/bulletphysics/bullet3/issues/2898
2020-08-13 16:40:37 -07:00
erwincoumans
e52a30de68
Update TinyRendererVisualShapeConverter.cpp
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only create a texture for a plane, not sphere (backward compatibility tests break)
2020-08-12 10:12:45 -07:00
Erwin Coumans
ff229baf1e
TinyRenderer: support plane shape (creating similar textured plane to OpenGL renderer)
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TinyRenderer: perform clipping in double precision to improve accuracy
2020-08-10 20:19:00 -07:00
Erwin Coumans
7d9bcafda8
when using stablePDPlugin, approximate inertia by box for unsupported shapes.
2020-08-10 17:00:19 -07:00
Erwin Coumans
d12d886e13
raycast filter masks can be negative, always apply the mask (-1 default). Thanks to Tingnan for reporting/reproduction case.
2020-08-03 11:00:14 -07:00
Erwin Coumans
1e8f39b492
improve premake4 build in case X11 headers are missing
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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
caa8b26ce5
Fixes in TinyAudio, play sound on collision impact, can be configured in URDF/SDF file.
...
Requires a modified setup.py (or use premake4 to compile)
Example script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_with_collision_audio.urdf")
box = p.loadURDF("cube.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
p.stepSimulation()
time.sleep(1./240.)
2020-07-13 14:07:58 -07:00
Erwin Coumans
d88d0e92ef
also update m_jointLowerLimit/m_jointUpperLimit in multibody link.
2020-07-07 19:49:29 -07:00
Erwin Coumans
c517c434e6
pybullet allow to enable/change joint limits:
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pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLowerLimit=..., jointUpperLimit=...) # jointLowerLimit <= jointUpperLimit
and joint limit max force:
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLimitForce=...)
For example:
p.changeDynamics(sphereUid,linkIndex, jointLowerLimit=1, jointUpperLimit=3, jointLimitForce=10.5)
add b3ChangeDynamicsInfoSetJointLimit/b3ChangeDynamicsInfoSetJointLimitForce
add getConstraintType for btMultiBodyConstraint
2020-07-07 19:42:23 -07:00
Erwin Coumans
9de78ab6b3
fix array size in inverse kinematics orientation command
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bump up shared memory version, since this was a potentially incompatible change
2020-07-06 22:57:03 -07:00
Erwin Coumans
4c63a5019e
fix removeConstraint for deformables, thanks to Daniel Seita for reporting the issue.
2020-06-30 16:39:15 -07:00
erwincoumans
036e51c637
Merge pull request #2870 from erwincoumans/master
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Fix applyExternalForce command for multibody links. Thanks to Avik fo…
2020-06-18 20:52:47 -07:00
Erwin Coumans
ebef331bbf
Fix applyExternalForce command for multibody links. Thanks to Avik for the report.
2020-06-19 03:37:30 -07:00
erwincoumans
01bfdc643c
Merge pull request #2858 from CGJiaxiLiu/fix_softbody
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Fix potential undefined softbody member in PhysicsServerCommandProcessor
2020-06-18 20:45:59 -07:00
Xuchen Han
f23e745666
clang format PhysicsServerCommandProcessor and BulletSoftBody
2020-06-17 17:20:39 -07:00
Erwin Coumans
4786ca1df2
Merge remote-tracking branch 'bp/master'
2020-06-16 16:20:17 -07:00
Erwin Coumans
a7b8b54c44
implement mouse picking for deformable objects in PyBullet (the one using p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD), not position based dynamics version)
2020-06-16 11:54:50 -07:00
Jiaxi
daaea3a4fb
Fix potentially send data to invalid port
2020-06-14 21:57:43 -04:00
Jiaxi
f034e64cc6
Check for availability of soft body
2020-06-14 21:42:32 -04:00
Jiaxi
a848c1d6e9
Check for availability of soft body
2020-06-14 21:26:54 -04:00
erwincoumans
da50438c3c
Merge pull request #2826 from xhan0619/grav-factor
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Deformable gravity factor
2020-06-05 10:07:27 -07:00
Erwin Coumans
a2cdadb9b4
add check to avoid crash, if link is out of bounds.
2020-06-04 00:24:51 -07:00
Erwin Coumans
e82a4ecc6d
Apply patch to apply force at softbody nodes, thanks to Robert Lee, see
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https://github.com/bulletphysics/bullet3/issues/2699#issuecomment-610734583
2020-06-04 00:09:11 -07:00
Erwin Coumans
c09007e005
Merge branch 'master' of github.com:erwincoumans/bullet3
2020-06-04 00:00:44 -07:00
Erwin Coumans
e6a0206d47
Allow to remove soft body anchors, using pybullet.removeConstraint (untested).
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Usage example:
anchors = []
anchors.append(p.createSoftBodyAnchor(clothId ,0,-1,-1))
anchors.append(p.createSoftBodyAnchor(clothId ,3,boxId,-1, [0.5,-0.5,0]))
for a in anchors:
p.removeConstraint(a)
2020-06-04 00:00:19 -07:00
Xuchen Han
8c0192d639
turn on deformable rigid face contact
2020-05-26 16:52:40 -07:00
Xuchen Han
8a189763df
support configuring gravity factor from client
2020-05-26 16:51:45 -07:00
erwincoumans
5233b72160
Merge pull request #2800 from xhan0619/splitImpulseMulti
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Stability improvements for deformable.
2020-05-21 09:47:33 -07:00
Erwin Coumans
7d61b3514c
use memcpy instead of manual copy, alignment issue?
2020-05-20 07:19:26 -07:00
Erwin Coumans
32277c7bd5
in case of substeps use the compensated delta time / numSubSteps to convert between force and impulse.
2020-05-19 11:00:53 -07:00
erwincoumans
d4c7687b29
Merge pull request #2809 from erwincoumans/master
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add pybullet.unsupportedChangeScaling feature for some small experime…
2020-05-17 19:22:40 -07:00
Erwin Coumans
3f0b8c938b
fix for https://github.com/bulletphysics/bullet3/pull/2797
2020-05-17 14:09:42 -07:00
Erwin Coumans
754dbd5fda
add pybullet.unsupportedChangeScaling feature for some small experiments, this is not general and has many limitations that are not likely are going to be resolved,
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so unless it does what you want, ignore this api, it is unsupported!
2020-05-17 13:46:11 -07:00
Xuchen Han
f07042723c
bug fix in damping mode
2020-05-11 17:40:00 -07:00
Xuchen Han
ce237ec7ec
fix API for different damping modes for mass spring
2020-05-11 17:08:33 -07:00
Xuchen Han
644fd5f311
add API for two different damping modes for mass spring
2020-05-11 16:42:17 -07:00
Tigran Gasparian
faa708db49
Fixes bug where user data defined in a URDF link wasn't being applied on
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the correct link.
2020-05-11 19:27:04 +02:00
Erwin Coumans
53b65b795f
add fractionEpsilon to filter rays with similar hit fraction
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remove debug printf
2020-05-09 02:42:47 -07:00
Erwin Coumans
f0cccf0faa
add collisionFilterMask to rayTestBatch and rayTest
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This will allow to exclude (filter) certain bodies.
By default, static bodies have collision group 2, and dynamic (mass=1) bodies have collision group 1.
As long as mask & group != 0, a raytest will be performed.
2020-05-08 11:57:25 -07:00
Erwin Coumans
8f380b3fd2
use white as default undefined color instead of the googley colors.
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use loadURDF(..., flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS) to get Googley colors when colors are undefined.
2020-05-08 10:44:39 -07:00
Erwin Coumans
daa0a27403
add reportHitNumber to allow reporting a specific ray intersection hit
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(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
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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
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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
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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
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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
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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
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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
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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
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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:
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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
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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