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Author SHA1 Message Date
erwincoumans
64a7a3d82f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-21 17:33:31 -07:00
erwincoumans
278454ae17 allow to disable self-collision for a link-pair 2018-09-21 17:33:13 -07:00
Erwin Coumans
350adb5c7c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-21 09:56:25 -07:00
Erwin Coumans
47efe66017 disable eglPlugin from setup.py / pip pybullet on Windows and Mac (only enable on Linux) 2018-09-21 09:55:57 -07:00
erwincoumans
874bbc91a3 Merge remote-tracking branch 'bp/master' 2018-09-20 09:08:56 -07:00
erwincoumans
1ec616362c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-20 09:08:46 -07:00
erwincoumans
616192f80a use grpc port -1 by default in PyBullet. add grpcClient.py and grpcServer.py 2018-09-20 09:07:47 -07:00
Erwin Coumans
0de99f224a fix compilation on ARM (Ubuntu 18.04, NVIDIA Xavier) 2018-09-19 16:18:06 -07:00
bla
3de295ca41 add missing files to MANIFEST.in for pybullet pip version 2018-09-19 08:43:55 -07:00
erwincoumans
0b08881ab8 wait until a frame is rendered, when using the COV_ENABLE_SINGLE_STEP_RENDERING command (Windows and Linux only) 2018-09-15 14:22:31 -07:00
erwincoumans
d315673d3a
Merge pull request #1879 from erwincoumans/master 
fix internal build / pybullet version bump
 2018-09-14 18:54:41 -07:00
erwincoumans
81f6a63490 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-14 17:17:20 -07:00
erwincoumans
e6d74580c1 add single step rendering feature: 
while (1):
    stepSimulation()
    pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SINGLE_STEP_RENDERING, 1)

disable single step using
pybullet.configureDebugVisualizer(pybullet.COV_ENABLE_SINGLE_STEP_RENDERING, 0)
 2018-09-14 17:17:11 -07:00
Erwin Coumans
b0971b4beb fix our internal build 2018-09-13 10:20:38 -07:00
Erwin Coumans
d909448ee3 bump up pybullet version again 2018-09-12 21:03:07 -07:00
erwincoumans
826ca0892a
Merge pull request #1877 from erwincoumans/master 
bump up pybullet version to 2.1.5
 2018-09-12 20:34:24 -07:00
Erwin Coumans
c8fe0f7fbc bump up pybullet version to 2.1.5 2018-09-12 20:33:52 -07:00
erwincoumans
bd4717e9cc
Merge pull request #1876 from erwincoumans/master 
use numpy to reshape image data to matplotlib compatible format
 2018-09-12 20:25:53 -07:00
erwincoumans
9553892770 PyBullet / BulletRobotics: 
Implement collisionFilterPlugin, use setCollisionFilterPair to enable or disable collision detection between specific pairs of objects.
Also, expose setCollisionFilterGroupMask as PyBullet API and in urdf using the tag <collision group="1" mask="2"/>.
See examples/pybullet/examples/collisionFilter.py for an example.
PyBullet default: Lower the warmstarting factor, for maximal coordinates rigid bodies for more stable simulation.
Add btCollisionWorld::refreshBroadphaseProxy to easier recreate the broadphase proxy without adding/removing objects to the world.
 2018-09-12 19:30:49 -07:00
erwincoumans
bf3399d0e3 Merge remote-tracking branch 'bp/master' 2018-09-12 09:18:25 -07:00
Erwin Coumans
1efee29c27 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-12 08:20:03 -07:00
Erwin Coumans
c83fa30daa use numpy to reshape image data to matplotlib compatible format 
fixes issue #1871
 2018-09-12 08:19:30 -07:00
erwincoumans
2a3a60ac64
Merge pull request #1874 from erwincoumans/master 
more egl plugin fixes, create stb_image_write.cpp (instead of magic defines in various source files)
 2018-09-11 14:14:40 -07:00
Erwin Coumans
23ecbab7b3 fix setup.py and pybullet to work better with eglPlugin on Linux 2018-09-11 13:24:35 -07:00
erwincoumans
87e8711b0a
Merge pull request #1872 from RanTig/GetLinkStateFix 
Change b3GetLinkState to use numLinks in status handle
 2018-09-11 08:48:30 -07:00
Tigran Gasparian
58699258dd Change b3GetLinkState to use numLinks in status handle 
Changes the b3GetLinkState function to use numLinks from the
SharedMemoryStatus returned from RequestActualState instead of the
cached number of link value returned by b3GetNumJoints.

The cached value can be outdated when a new body is added and
SyncBodyInfo isn't used, while using the value in the status is always
up-to-date.
 2018-09-11 14:44:06 +02:00
bla
36c900e384 linux fixes related to egl 2018-09-10 23:52:53 -07:00
erwincoumans
5b1588fc3f fix createProtobufs.bat script 2018-09-10 23:32:51 -07:00
Erwin Coumans
9fa3e44539 fixes related to egl plugin 2018-09-10 23:31:54 -07:00
Erwin Coumans
3b0a44e1be fix createProtobufs.sh script 2018-09-10 23:24:00 -07:00
erwincoumans
684a9f6a99 move stb_image/stb_image_write.cpp into a cpp file instead of random files with the magic 'STB_IMAGE_WRITE_IMPLEMENTATION' define 
move setup.py back to eglRenderer extension, use pkgutil.get_loader('eglRenderer').get_filename()
disable dlmopen by default, unless B3_USE_DLMOPEN is defined.
 2018-09-10 23:18:34 -07:00
erwincoumans
ab84975ca9
Merge pull request #1870 from erwincoumans/master 
pybullet eglPlugin: fix Mac OSX build
 2018-09-10 12:23:36 -07:00
Erwin Coumans
f26d4fdc4c pybullet eglPlugin: fix Mac OSX build 2018-09-10 08:55:47 -07:00
erwincoumans
1a047901ce
Merge pull request #1869 from erwincoumans/master 
fixes in eglRendererPlugin
 2018-09-10 07:51:39 -07:00
bla
6992195ba8 add pybullet example for eglRendererPlugin, will use EGL in a plugin on Linux, Win32OpenGLWindow in a plugin on Windows 2018-09-09 23:03:07 -07:00
bla
8f711462e0 fix setup.py to work better on Windows and Linux (with default eglPlugin static built-in, 
just use pybullet.loadPlugin("eglRendererPlugin") before loading/creating any objects.
use end/startRendering (swap buffers) before the rendering in the eglPlugin
 2018-09-09 22:58:08 -07:00
erwincoumans
9698c3d600 PyBullet setup.py: only enable BT_USE_EGL on Linux, but allow to run the eglPlugin on Windows and Mac as well (using their default opengl window). 
postpone the 'loadPlugin' for static eglPlugin, so that the init and exit happen in the same thread.
When you don't call unloadPlugin, the program may crash when exiting in SHARED_MEMORY_SERVER mode.
 2018-09-09 21:08:47 -07:00
erwincoumans
2744e84592 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-09 15:25:27 -07:00
erwincoumans
7369005402 pybullet, use eglPlugin statically instead of dynamic loading an Extension -DSTATIC_EGLRENDERER_PLUGIN 
Fix compile errors of pybullet on Windows.
 2018-09-09 15:23:26 -07:00
bla
de14006c2c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-09 14:47:41 -07:00
bla
ced4645429 add missing include 2018-09-09 14:47:09 -07:00
erwincoumans
c4fe0f7357 disable enable_egl by default (?!?) 2018-09-09 14:39:56 -07:00
erwincoumans
adb5c049c7 Thanks to @dchichkov for some of the fixes in the eglRendererPlugin! 
Rename tinyRenderer -> eglRenderer in the eglRendererPlugin.
Allow to run the eglRendererPlugin to run on Windows (not in EGL mode but Win32OpenGLWindow mode)

Here is a script I tested on Windows:
~~~~~~~~~~~~
mport pybullet as p
import time

p.connect(p.DIRECT)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_eglRendererPlugin_vs2010_x64_debug.dll","_eglRendererPlugin")
print("plugin=",plugin)
p.setGravity(0,0,-10)
p.loadURDF("plane.urdf",[0,0,-1])
p.loadURDF("r2d2.urdf")
pixelWidth = 320
pixelHeight = 220
while (1):
	p.stepSimulation()
	viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
	projectionMatrix  = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]

	#img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	img_arr = p.getCameraImage(pixelWidth, pixelHeight, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	#print("img_arr=",img_arr)
	time.sleep(1)
~~~~~~~~~~~~~
 2018-09-09 13:37:49 -07:00
erwincoumans
dc7feb9027 Merge remote-tracking branch 'bp/master' 2018-09-09 10:48:58 -07:00
erwincoumans
233a7083d1
Merge pull request #1790 from BlGene/egl-plugin 
OpenGL render plugin
 2018-09-09 09:27:15 -07:00
erwincoumans
377a89c09c
Merge pull request #1866 from jna29/bug-fix/robot-manipulators-errors 
Fixed bugs mistaking forearm_roll_joint for upper_arm_roll_joint
 2018-09-08 18:53:47 -07:00
Joshua Aduol
cc4c02edc7 Fixed bugs mistaking forearm_roll_joint for upper_arm_roll_joint 2018-09-09 00:17:06 +01:00
erwincoumans
63f4a63e15 since parent collision is always disabled by default for self-collision, we add a new flag 
URDF_USE_SELF_COLLISION_INCLUDE_PARENT, to force self-collision between direct parent/child (not recommended in general)
 2018-09-08 14:46:43 -07:00
erwincoumans
cc91b4a7cf
Merge pull request #1865 from erwincoumans/master 
update quickstart guide, bump up pybullet version
 2018-09-08 13:50:52 -07:00
Erwin Coumans
bc0a201bd1 update quickstart guide from https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3 
bump up pybullet version to 2.1.4
 2018-09-08 12:48:26 -07:00