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1442 Commits

Author SHA1 Message Date
Benelot
dad9bf40a4 Merge branch 'master' into 3D-NN-walkers-example 2017-05-28 17:16:54 +02:00
Erwin Coumans
b645963879 expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...) 
Bullet C-API b3ChangeDynamicsInfoSetSpinningFriction/RollingFriction/Resitution
b3PhysicsParamSetRestitutionVelocityThreshold, / pybullet.setPhysicsEngineParameter restitutionVelocityThreshold:
if the velocity is below this threshhold, the restitution is zero (this prevents energy buildup at near-resting state)
pybullet restitution.py example.
 2017-05-26 18:14:38 -07:00
Erwin Coumans
8c6d4a4c85 also initialize near/far for depth shader in TinyRenderer 2017-05-26 09:45:26 -07:00
Erwin Coumans
723b356667 also discard pixels in front of nearplane 2017-05-25 19:55:55 -07:00
Erwin Coumans
2b9c67b07c TinyRenderer: discard pixels beyond farplane 
pybullet: printf build date/time
 2017-05-25 17:25:14 -07:00
Erwin Coumans
e023c012b4 TinyRendererVisualShapeConverter set near/far for its own camera. 2017-05-25 13:39:36 -07:00
Erwin Coumans
e6180ef98a use a fixed joint instead of crashing for unsupported joint types (planar, floating joint) 2017-05-25 13:02:20 -07:00
Erwin Coumans
f090752cbb bump up VISUAL_SHAPE_MAX_PATH_LEN from 128 to 1024, some google3 directories are loooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooong :-) 2017-05-25 10:56:01 -07:00
Erwin Coumans
143a8dd239 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-24 19:57:53 -07:00
Erwin Coumans
40db4998b9 Merge remote-tracking branch 'bp/master' 2017-05-24 19:57:28 -07:00
Erwin Coumans
9743bb387c give some pure-virtual methods default empty implementation, avoid breaking some internal research code 2017-05-24 19:30:06 -07:00
Erwin Coumans
1af8939fd2 fix unused variables 2017-05-24 16:44:43 -07:00
erwincoumans
5103f3b72d Merge pull request #1146 from jietan/pullRequest 
Pull request to update to the latest minitaur agent and env
 2017-05-24 16:26:17 -07:00
Erwin Coumans
84d09cc18f Split CommonGfxVertex3D into two different ones, GfxVertexFormat0 and GfxVertexFormat1 
Rewrite  GLInstancingRenderer::drawTexturedTriangleMesh
 2017-05-24 13:05:16 -07:00
Jie Tan
1d0db4ec2e update to the latest agent and environment. 2017-05-24 11:20:42 -07:00
Erwin Coumans
344bb3f350 fix premake4.lua build file 2017-05-24 10:29:22 -07:00
Erwin Coumans
5e2599863d trackObject -> parentObject 
trackLinkIndex -> parentLinkIndex
add example debugDrawItems.py
 2017-05-24 09:06:15 -07:00
Erwin Coumans
9f7d7fecd5 more rendering fixes 2017-05-23 23:34:55 -07:00
Erwin Coumans
df1b5b6ca5 fix shader issue 2017-05-23 23:17:57 -07:00
Erwin Coumans
2d04d39fcf bump up pybullet version, include <string.h> for memset 2017-05-23 22:41:08 -07:00
Erwin Coumans
0f63e7a2f6 Merge remote-tracking branch 'bp/master' 2017-05-23 22:06:07 -07:00
Erwin Coumans
7bb802a91b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-23 22:05:38 -07:00
Erwin Coumans
db008ab3c2 Improve debug text/line rendering, can be use to draw frames and text in local coordinate of an object / link. 
example:
kuka = p.loadURDF("kuka_iiwa/model.urdf")
p.getNumJoints(kuka)
pybullet.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],trackObjectUniqueId=2,trackLinkIndex=6)
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],trackObjectUniqueId=2,trackLinkIndex=6)
Also allow to render text using a given orientation (instead of pointing to the camera), example:
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textOrientation=[0,0,0,1], trackObjectUniqueId=2,trackLinkIndex=6)
Add drawTexturedTriangleMesh, for drawing 3d text.
Expose readSingleInstanceTransformToCPU, to extract position/orientation from graphics index.
updateTexture: allow to not flip texels around up axis
 2017-05-23 22:05:26 -07:00
Jie Tan
18fd1a003f remove redundant and potentially confusing data 2017-05-23 16:34:13 -07:00
erwincoumans
4f3d60f4d0 Merge pull request #1142 from jietan/pullRequest 
add back sonnet dependency. If sonnet is not installed, fall back to …
 2017-05-23 10:05:36 -07:00
Lunkhound
d77c3d5b68 fix compile errors in non-threadsafe build 2017-05-23 02:34:29 -07:00
Lunkhound
dfe184e8d3 Bullet 2 threading refactor: moved parallel-for calls into core libs 2017-05-23 01:01:20 -07:00
yunfeibai
dacdcb0508 Add the pybullet example. 2017-05-22 22:26:57 -07:00
yunfeibai
d383799d97 Merge remote-tracking branch 'upstream/master' 2017-05-22 22:23:55 -07:00
yunfeibai
3eb974f66f Add kuka grasping block playback. 2017-05-22 22:23:01 -07:00
Jie Tan
671c4bf10e add back sonnet dependency. If sonnet is not installed, fall back to simpleAgent that does not need sonnet. 2017-05-22 20:57:18 -07:00
Erwin Coumans
9420ecded3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-21 19:49:26 -07:00
Erwin Coumans
19933a9454 Merge remote-tracking branch 'bp/master' 2017-05-21 12:16:34 -07:00
Erwin Coumans
1ce894b3e9 add main_imgui.cpp 2017-05-21 12:16:27 -07:00
Erwin Coumans
aa2787520b examples\pybullet\examples\humanoid_knee_position_control.py : allow both knees to be actuated against limit 2017-05-21 11:35:06 -07:00
erwincoumans
148716d0ff Merge pull request #1135 from erwincoumans/master 
disable Grasp Soft Body/SoftBody coupling demo unless USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD is defined, fixed related hang in experimental 'loadBunny' command
 2017-05-21 11:00:43 -07:00
Erwin Coumans
fd40ba424b test for knee joint limits under position control 2017-05-21 11:00:15 -07:00
erwincoumans
3c4fd2ce8c Merge pull request #1132 from ahundt/btsoftbody 
btsoftbody fix #1106, compiler error in App_PhysicsServer_SharedMemory
 2017-05-21 06:59:40 -07:00
Erwin Coumans
b19c209dbc The softbody/bunny test is very experimental and shouldn't be enabled in the example browser, unless USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD is defined. I fixed a few bugs that cause the hang. 2017-05-21 06:50:53 -07:00
Lunkhound
5bc9d431a0 CommonRigidBodyMTBase: replace dynamic_cast (which crashes without RTTI) with static_cast 2017-05-21 03:14:09 -07:00
Andrew Hundt
e719da3497 btsoftbody fix #1106, compiler error in App_PhysicsServer_SharedMemory 
BulletSoftBody was not linking to App_PhysicsServer_SharedMemory when USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD was enabled.
 2017-05-20 21:14:00 -04:00
Jie Tan
8a6a46d180 remove sonnet dependency 2017-05-18 16:12:38 -07:00
Erwin Coumans
16a8dceb73 fix warning 2017-05-18 08:31:40 -07:00
Erwin Coumans
c2fdffba35 pybullet.enableJointForceTorqueSensor kwlist was not properly terminated 2017-05-17 19:37:51 -07:00
Erwin Coumans
19295f2859 enable file caching, currently only for Wavefront .obj files. You can disable file caching using 
pybullet.setPhysicsEngineParameter(enableFileCaching=0)
Allow VR camera tracking only using position tracking, no orientation tracking (use
pybullet.setVRCamera([posX,posY,posZ],trackObjectFlag=0 or pybullet.VR_CAMERA_TRACK_OBJECT_ORIENTATION)
 2017-05-17 19:29:12 -07:00
Erwin Coumans
972660f825 Only initialized values if provided (and don't initialize default if not provided!) 
fixes getCameraImage(width,height) crash
 2017-05-17 17:25:34 -07:00
Erwin Coumans
9c4a5f9336 update VR camera even if setRealTimeSimulation(0) 
also update w component in setVRCameraState orientation
 2017-05-17 16:29:30 -07:00
Erwin Coumans
ea10c6d335 fix issue when re-connecting to physics server, after removeBody. 2017-05-16 17:19:45 -07:00
Erwin Coumans
433d11d8cf Add a btIDEbugDraw::clearLines, helps multi-threaded rendering of lines (while updating those lines in a dynamics world in a different thread) 
Expose COV_ENABLE_VR_RENDER_CONTROLLERS, to enable/disable rendering of controllers (and some frames) in VR
Expose COV_ENABLE_RENDERING to enable/disable rendering.
Fix some multi-threading issues (potential crashes), related to debug drawing/rendering in one thread, while changing the dynamics world/removing/resetSimulation in a different thread.
 2017-05-16 12:19:03 -07:00
Erwin Coumans
4dea68e43e allow to enable/disable VR picking and VR teleport. Disabling VR picking will also disable the rendering of the VR controller frames. 2017-05-15 11:39:39 -07:00
Erwin Coumans
a554c250a7 GLInstancingRenderer: don't crash but assert/return -1, if the # vertices exceeds the maximum capacity. 2017-05-15 09:02:49 -07:00
Erwin Coumans
dfe618bd62 initialize UrdfGeometry members 2017-05-15 07:59:07 -07:00
Erwin Coumans
11fa56513b initialize alpha component of color 2017-05-14 21:14:56 -07:00
Erwin Coumans
23b8579247 avoid some 'invisible' warning/error (C++/C mix) 2017-05-14 12:00:28 -07:00
Erwin Coumans
987b9541a5 clear unused visual shape data (was de-allocated at the end, not during each 'resetSimulation') 2017-05-14 11:09:32 -07:00
Erwin Coumans
bb4c195118 added getJointStates and make humanoid_running.py use it to reduce Python<->C++ calling overhead a lot. 2017-05-13 18:07:49 -07:00
Erwin Coumans
8b90885cf6 more compile fixes 2017-05-13 13:58:05 -07:00
Erwin Coumans
e954374e56 build system fixes 2017-05-13 13:50:35 -07:00
Erwin Coumans
ef7a7f9004 Potential fix for Linux slow performance (usleep(0) takes a lot of time) 
Remove b3RobotSimAPI, use RobotSimulator/b3RobotSimulatorClientAPI.h instead
 2017-05-13 13:37:49 -07:00
Erwin Coumans
0944790577 migrating from b3RobotSimAPI to b3RobotSimulatorClientAPI (step by step) 
allow to run the client/server code in the example browser without this b3RobotSimAPI hack.
 2017-05-13 11:15:20 -07:00
Erwin Coumans
f80838e989 expose the changeVisualShape RGBA color for TinyRenderer, OpenGL3 renderer. 2017-05-13 09:18:36 -07:00
Erwin Coumans
7cb763e4c8 don't render objects with zero alpha color (RGBA) 2017-05-13 07:38:00 -07:00
Erwin Coumans
e2d596f4d0 remove visual shape from CPU/TinyRenderer with removeBody 
(thanks to Jeff Bingham for reporting the bug!)
 2017-05-12 20:24:10 -07:00
Erwin Coumans
845eb43610 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-05-12 17:18:10 -07:00
Erwin Coumans
85c84ce09a remove other humanoids in single humanoid_running.py example 2017-05-12 17:18:04 -07:00
Erwin Coumans
79e2c10506 add second humanoid_running_3.py example with 3 humanoids, for testing. Created a humanoid_symmetric_no_ground.xml and ground.xml: 
if the ground is duplicated, simulation is unstable (too many contacts in the same area?)
 2017-05-12 17:17:27 -07:00
Erwin Coumans (google)
c068cb8297 bump up pybullet to 1.0.3, 
allow humanoid_running.py to run on Python 2.7
 2017-05-12 21:21:03 +00:00
erwincoumans
3480574e60 Merge pull request #1118 from erwincoumans/master 
fix in pybullet pybullet_calculateInverseKinematics: physicsClientId should always go last
 2017-05-12 20:56:46 +00:00
erwincoumans
9356019572 Merge pull request #1116 from olegklimov/master 
Rewrite collision filtering code for C API
 2017-05-12 20:56:26 +00:00
Erwin Coumans
3bdc60c050 fix pybullet inversekinematics argument order (O/i) 
add spinning friction to some tutorial
 2017-05-12 11:18:33 -07:00
Erwin Coumans
0ad3fade4e physicsClientId always comes last for each pybullet command 2017-05-12 09:38:17 -07:00
Erwin Coumans
8085068603 Merge remote-tracking branch 'bp/master' 2017-05-11 23:00:00 -07:00
Erwin Coumans
b22ffcf61c Use more googley colors in the examples. 
Add high-resolution textured sphere, and automatically convert sphere, capsule and multi-sphere shape to use this, with caching to avoid duplicates.
 2017-05-11 22:59:27 -07:00
erwincoumans
ac7518d24b Update humanoid_running.py 
remove obsolete fps comment, runs at > 1000FPS on my laptop
 2017-05-11 22:51:50 -07:00
erwincoumans
0e12277cfb Update humanoid_running.py 
disable sleep and use GUI mode by default
 2017-05-11 22:26:49 -07:00
erwincoumans
d4ec33d8e4 Merge pull request #1115 from erwincoumans/master 
added the humanoid_running.py from this pull request, modified so it …
 2017-05-12 05:16:50 +00:00
Erwin Coumans
951da22e59 Merge remote-tracking branch 'bp/master' 2017-05-11 17:50:48 -07:00
Oleg Klimov
d755513146 Rewrite collision filtering code 2017-05-11 12:59:11 +03:00
Erwin Coumans
97235578fb added the humanoid_running.py from this pull request, modified so it works with plain pybullet. 2017-05-10 18:08:43 -07:00
erwincoumans
f74adffb84 Merge pull request #1114 from YunfeiBai/master 
Add an example to decode the packed button events from vr log.
 2017-05-10 23:41:12 +00:00
yunfeibai
c9aad0b6b0 format change 2017-05-10 16:15:13 -07:00
yunfeibai
719dba5cd1 keep the original dumpLog, and create a dumpVrLog 2017-05-10 16:12:45 -07:00
yunfeibai
c3e3e1e983 modify vr button log parse example 2017-05-10 15:33:58 -07:00
yunfeibai
cfb8316297 Add an example to decode the packed button events from vr log. 2017-05-10 15:07:49 -07:00
Erwin Coumans
53a82819a0 expose b3LoadMJCFCommandSetFlags / pybullet.pybullet_loadMJCF(fileName,flags=pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS) 2017-05-10 15:01:25 -07:00
Erwin Coumans
e6d1ed6ffe Merge remote-tracking branch 'bp/master' 2017-05-09 16:24:32 -07:00
yunfeibai
c938e42a19 Optimize tinyrender by precompute matrix multiplication in vertex shader. 2017-05-09 14:11:01 -07:00
yunfeibai
28de699e70 Add back face culling based on world space coordinates. 2017-05-09 13:49:13 -07:00
Erwin Coumans
051e3f8b0c Merge remote-tracking branch 'bp/master' 2017-05-09 11:37:25 -07:00
yunfeibai
a587d4fec4 Use "change" instead of "reset" for changing dynamics info. 2017-05-09 10:44:33 -07:00
yunfeibai
98654a0cb4 Change dynamic to dynamics in dynamics info. 2017-05-09 10:31:28 -07:00
Erwin Coumans
0f5b400895 pybullet: implement setJointMotorControlArray, the array version of setJointMotorControl2. This can improve performance in reinforcement learning loops (training / inference) by reducing Python/C-API/shared memory calling overhead. 2017-05-08 13:41:07 -07:00
yunfeibai
92de4ecd31 Add pybullet example to get dynamic info. 2017-05-07 22:41:05 -07:00
yunfeibai
5fe4c6bb5b Add API to get dynamic info. 2017-05-07 22:21:38 -07:00
yunfeibai
e363e12ea4 Add default specular when there is not specular map. Add example for adjusting specular coefficient. 2017-05-07 21:09:08 -07:00
erwincoumans
c4844c650f Merge pull request #1078 from olegklimov/master 
Random improvements 2
 2017-05-06 16:46:59 +00:00
Oleg Klimov
acf57f25e6 MJCF: change default link name to be more unique 2017-05-06 16:00:14 +03:00
Oleg Klimov
2c6b2211fc Friction typo 2017-05-06 16:00:14 +03:00
Oleg Klimov
b8afb4d7aa Memory leaks 2017-05-06 14:49:51 +03:00
Oleg Klimov
5a40b5aaae Compile fix 2017-05-06 14:49:51 +03:00
Oleg Klimov
1524004aa8 MJCF: support for "axisangle", small code improvements 2017-05-06 14:49:43 +03:00
Erwin Coumans
6767b986d0 tuned the benchmark a little bit, start with the humanoid on the floor 2017-05-05 18:05:36 -07:00
Erwin Coumans
7003401605 use DIRECT mode for benchmark 2017-05-05 17:57:07 -07:00
Erwin Coumans
3849612403 pybullet benchmark: make some parameters explicit 2017-05-05 17:42:43 -07:00
Erwin Coumans
385156cbc5 add simple humanoid_benchmark.py and mjcf file 2017-05-05 17:24:35 -07:00
Erwin Coumans
09caa599ff avoid an assert when removing a non-existing graphics index in debug mode 2017-05-05 10:38:16 -07:00
Erwin Coumans
1e443edc55 minor change in API for CommonGUIHelperInterface 2017-05-05 07:48:05 -07:00
Erwin Coumans
cb1f5c74ea add missing files to projects 2017-05-04 18:04:32 -07:00
Erwin Coumans
1f64a87abe Improve ChromeTraceUtil logging, allow filename to be specified. 
Expose this ChromeTraceUtil  logging to C-API: start/statelogging and submitProfileTiming
pybullet.submitProfileTiming, and STATE_LOGGING_PROFILE_TIMINGS used in startStateLogging
added example for Python profileTiming.py and C++ b3RobotSimulatorClientAPI::submitProfileTiming
 2017-05-04 17:51:40 -07:00
Erwin Coumans
a8bf53b494 fix error, m_userConstraintUIDGenerator should be m_data->m_userConstraintUIDGenerator 2017-05-04 13:52:02 -07:00
Erwin Coumans
7bf125e460 reset the m_userConstraintUIDGenerator to 1 after 'resetSimulation' 2017-05-04 13:28:09 -07:00
Erwin Coumans
61999ef789 b3ResizablePool: only remove a handle, if it is currently in-use 
also remove user constraints, if removing a body
 2017-05-04 13:14:24 -07:00
Erwin Coumans
fac3d6e3ca fix some compile errors after merge 2017-05-04 11:08:59 -07:00
Erwin Coumans
a7d08ca9d7 Merge remote-tracking branch 'bp/master' 2017-05-04 10:51:42 -07:00
erwincoumans
87a24dba84 Merge pull request #1091 from YunfeiBai/master 
Add APIs to reset object mass, lateral friction coefficient, and to get user constraint id.
 2017-05-04 17:47:33 +00:00
Erwin Coumans
4602fbba34 add missing openvr files to CMakeLists.txt, rename 64bit openvr_api.dll to openvr64pi.dll to avoid name conflicts when using 32 AND 64 bit versions of this dll. 2017-05-04 08:37:46 -07:00
Erwin Coumans
a86f584824 more work towards removeBody for C-API/pybullet, work-in-progress. 2017-05-03 21:53:29 -07:00
yunfeibai
939d6ead32 Add API to reset lateral friction coefficient. 2017-05-03 21:47:53 -07:00
yunfeibai
1841a41f2a Add pybullet example for resetting dynamics. 2017-05-03 21:30:42 -07:00
yunfeibai
c7e9a31898 Add API to get user constraint id. 2017-05-03 18:25:25 -07:00
Erwin Coumans
152e3da3e4 Implementation of virtual void CommonRenderInterface::removeGraphicsInstance(int instanceUid) 
for GLInstancingRenderer (OpenGL3+) and SimpleOpenGL2Renderer (OpenGL2)
Refactored the add/remove object pool in Bullet3Common/b3ResizablePool.h
Added CommonRigidBodyBase::deleteRigidBody, also removing its graphics instance.
 2017-05-03 17:05:05 -07:00
Erwin Coumans
6f7601966d fix issue ,don't iterate over [0..numBodyHandles], would fail once we allow 'removeBody'... 2017-05-03 11:23:01 -07:00
Erwin Coumans
2c8f65a2d0 move body handles in its own template class, for re-use. 2017-05-03 10:49:04 -07:00
Erwin Coumans
1bb133a01f update to OpenVR 1.07 from https://github.com/ValveSoftware/openvr 2017-05-03 08:40:29 -07:00
erwincoumans
7c439b2b6a Merge pull request #1088 from erwincoumans/master 
Improve MJCF import, to allow reading of friction parameters, includi…
 2017-05-03 05:50:01 +00:00
Erwin Coumans
eb7cf38293 Add option to --useKitchen=1 to VRGloveSimulatorMain 2017-05-02 22:33:42 -07:00
Erwin Coumans
07992fe61d Improve MJCF import, to allow reading of friction parameters, including spinning and rolling friction, with some rudimentary 'default class' support. 
Tweak VRGloveSimulatorMain to work better with MPL/mpl2.xml hand.
 2017-05-02 18:05:36 -07:00
erwincoumans
7be746d892 Merge pull request #1086 from erwincoumans/master 
TinyAudio, preparation to allow sound in our robot simulator (C-API, pybullet)
 2017-05-02 06:10:12 +00:00
Erwin Coumans
9fef6c1d66 Add C++ version VRGloveSimulatorMain example, using the serial library. 
First run the App_PhysicsServer_SharedMemory_VR_vs2010.exe to run the VR server,
then run App_VRGloveHandSimulator. You likely need to tune the minV/maxV for each finger (check values using Arduino IDE Serial Monitor)
 2017-05-01 22:35:33 -07:00
yunfeibai
4da2c076a7 Add API to reset mass. 2017-05-01 22:18:54 -07:00
Erwin Coumans
305725e52e add --serial option in premake, added serial library to test vr glove in C++ (pybullet works already fine) 2017-05-01 15:04:00 -07:00
Erwin Coumans
af6bf8ddc8 plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision ! 
See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds:
https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf
Add the --audio flag to enable sound in pybullet/Bullet-C-API
 2017-05-01 11:14:09 -07:00
Erwin Coumans
2a2c18e959 add more tinyaudio preparation, some test wav files, play sound on collision events. Will expose this in the C-API to pick wav files and collision threshold levels etc. Use the premake --audio flag to try it out. The TinyAudio example in the ExampleBrowser works on Mac, Linux and Windows, you can play notes by pressing keys. 2017-04-29 10:32:30 -07:00
Jie Tan
bf5915f44b add a simple DDPG agent and a policy 2017-04-28 15:24:53 -07:00
Jie Tan
93fc04c6c3 Merge remote-tracking branch 'bp/master' into pullRequest 2017-04-28 14:36:56 -07:00
Jie Tan
948b2b00fe added a policy trained by DDPG 2017-04-28 14:34:03 -07:00
Erwin Coumans
c95a1c9c33 add soft-clipping of mixed sounds using tanh 
expose ADSR to TinyAudio API
enable envelope when playing wav files
 2017-04-28 12:39:51 -07:00
Erwin Coumans
37a16f7e6b move work on TinyAudio. 2017-04-28 11:35:00 -07:00
Erwin Coumans
e6759cfa4f TinyAudio fixes for OSX etc. 2017-04-27 12:07:31 -07:00
Erwin Coumans
1c168c102b Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-04-27 09:01:16 -07:00
Erwin Coumans
c51b22d6f5 remove verbose print's from ADSR code. 2017-04-27 08:42:28 -07:00
Erwin Coumans
dfc1800065 remove the goto's from the source code (came from http://github.com/thestk/stk toolkit) 
add test wav file
 2017-04-27 08:39:57 -07:00
Erwin Coumans
a43656701c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-04-27 07:31:26 -07:00
erwincoumans
72d5366a92 Update b3WriteWavFile.h 2017-04-26 21:34:43 -07:00
Erwin Coumans
eaa6255e06 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-04-26 21:33:19 -07:00
Erwin Coumans
943dd16e78 disable keyboard repeat on Windows 
add some TinyAudio classes to play wav, mostly from Stk (http://github.com/thestk/stk)
 2017-04-26 21:31:01 -07:00
erwincoumans
09280d6f7b Merge pull request #1084 from erwincoumans/master 
fix some potentially uninitialized variable
 2017-04-26 05:29:38 +00:00
Erwin Coumans
e4ace90980 fix some potentially uninitialized variable 2017-04-25 21:37:04 -07:00
erwincoumans
2b4f6d7997 Merge pull request #1082 from benelot/feature/link-names 
Add link name to getJointInfo(...).
 2017-04-26 02:29:04 +00:00
yunfeibai
56f9c38226 Use float when clipping the shadow map index, because the index before clipping can be out of the range for int. 2017-04-25 18:28:56 -07:00
Benelot
55414f5b20 Add link name to getJointInfo(...). 2017-04-25 23:58:30 +02:00
Erwin Coumans
771b197131 add option to calibrate individual fingers for the vr glove 2017-04-25 09:40:18 -07:00
Erwin Coumans
5ba6e11454 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-04-24 09:57:19 -07:00
Erwin Coumans
d41a2fdfd4 change hand.ino/py to match hardware changes (use pullup resistor, connect to gnd, instead of 5V + pull down resistor) 2017-04-24 09:56:27 -07:00
Erwin Coumans
552c85617f fix compile issue 2017-04-23 17:12:40 -07:00
Erwin Coumans
4759e5a590 tinyrenderer: disable triangle backface culling (doesn't work well, cull triangles that should be visible) 
GLInstancingRenderer: allow to set the light position
 2017-04-23 07:35:13 -07:00
Erwin Coumans
e8c1602232 add vrhand for vive tracker 
tweak 'saveWorld' feature a bit (mjcf, gui fallback if shared memory server is not available)
 2017-04-21 10:28:20 -07:00
Erwin Coumans
d2ff554e37 tweak hand.py script to automatically find the port on Windows (COM0 to COM30) and Mac OSX. 2017-04-20 14:44:47 -07:00
erwincoumans
5b789ed67b reduce max ray hits to 256 2017-04-19 12:06:26 -07:00
yunfeibai
a7068bb57a Modify the link index when computing Jacobian. Add a test for end effector orientation IK. Inverse dynamics Jacobian uses zero-based indexing of bodies, not starting from -1 for base. 2017-04-17 16:54:45 -07:00
erwincoumans
ee753eef6f Merge pull request #1073 from devnexen/build_fix_bsd 
build fix for BSD systems
 2017-04-17 18:19:10 +00:00
Erwin Coumans
ad2099e107 address 2 issues pointed out by PVS-Studio: 
https://github.com/bulletphysics/bullet3/issues/1074
 2017-04-17 10:01:44 -07:00
David Carlier
756568ad9c build fix for BSD systems 2017-04-16 17:53:44 +01:00
Erwin Coumans (google)
c2b80c562b fix TinyAudioExample 2017-04-14 19:33:52 +00:00
Erwin Coumans
eef76af663 create basic audio, towards sound sensors etc. 2017-04-14 12:22:38 -07:00
Erwin Coumans
c3cc53d5aa TinyRenderer, apply backface culling 2017-04-13 11:06:38 -07:00
Erwin Coumans
5158c1ae98 add python dumpLog.py utility to view log files created using 'startStateLogging' 
don't enable <CTRL> for hotkeys yet
add some more profile markers
log objectId and linkIndex as signed int ('i') and not unsigned int 'I'
fix issue in startStateLogging: number of parameters was wrong
 2017-04-12 15:02:47 -07:00
Erwin Coumans
f73b54e4ab testing ImGUI 2017-04-11 20:16:49 -07:00
Erwin Coumans
a43f3b026a testing ImGui, nice and simple! 
https://github.com/ocornut/imgui
This would replace GWEN.
 2017-04-11 17:10:25 -07:00
Erwin Coumans
80e87d5ccb re-create debug drawer after 'resetSimulation', also avoid memory leak after doing so. 
this fixes wireframe.
Also use <CTRL>+hotkey, to avoid conflicts with user-specified keyboard functions.
 2017-04-11 16:03:07 -07:00
Erwin Coumans
0a42ad6a88 pybullet: add support for Anaconda install on Mac OSX, for pip install pybullet, python setup.py install and cmake. 
Usage:

Also updated pypi to latest, see https://pypi.python.org/pypi?:action=display&name=pybullet&version=0.1.7
Here are a few options for Mac OSX + Anaconda:

1) In the root of the Bullet Physics SDK source tree, run
CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" python setup.py install

2) cmake, add the flag -DBUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK=OFF

3) Globally, just use pip or pip3:
CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" pip install pybullet

Option (3) may have an out-of-date pybullet/bullet version.
 2017-04-11 12:17:08 -07:00
Erwin Coumans
bdf366b045 implement pybullet.getDebugVisualizerCamera, width, height, providing viewmatrix, projection matrix 2017-04-10 11:03:41 -07:00
Erwin Coumans
82b6bc8770 apply the deviceTypeFilter also to VR state logging. 2017-04-08 11:48:12 -07:00
erwincoumans
2e47310e76 fix enum (has to be power of 2, to allow combination of devices) 
add vrtracker.py
 2017-04-08 10:37:32 -07:00
Erwin Coumans
8b2491f84f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-04-07 22:54:04 -07:00
Erwin Coumans
440d445a02 also report VR events for HMD and generic tracked devices. Also expose those VR events to pybullet: expose a deviceTypeFilter, that defaults to VR_DEVICE_CONTROLLER 2017-04-07 22:53:36 -07:00
erwincoumans
e1874c6b54 Update MacOpenGLWindow.cpp 2017-04-06 22:41:04 -07:00
Erwin Coumans
82b576a390 fixed a bug that prevented kitchens/1.sdf to render properly (local scaling was double applied) 
disable some left-over clipping that was moved to another part of the code
 2017-04-06 21:13:23 -07:00
Erwin Coumans
d6125ecb8c fix in tinyrenderer clipping logic 2017-04-06 17:43:40 -07:00
Erwin Coumans
deb95c758b TinyRenderer: implement triangle clipping against near-plane 
TinyRenderer: implement texture UV-repeat by default (instead of clamp(0,1))
 2017-04-06 14:31:34 -07:00
erwincoumans
0f2771b1d1 Merge pull request #1059 from jietan/pullRequest 
make the URDF and the minitaur.py consistent with the real robot
 2017-04-06 04:57:26 +00:00
erwincoumans
2e13531493 Merge pull request #1061 from erwincoumans/master 
Implement rayTestBatch. At the moment, it is still testing individual…
 2017-04-06 04:56:49 +00:00
Erwin Coumans
6cbb00fd6b Implement rayTestBatch. At the moment, it is still testing individual rays on the physics server. We can enable multi-threaded version later. At least the python + shared-memory IPC overhead will be much lower. 2017-04-05 15:21:26 -07:00
erwincoumans
8658682d2a Merge pull request #1060 from erwincoumans/master 
improvements in MJCF importer: cylinder support, fix capsule shape inertia (for fromto …
 2017-04-05 20:26:08 +00:00
Erwin Coumans
e32debdca4 improvements in MJCF importer: fix capsule shape inertia (for fromto definition) 
add cylinder support
don't crash when no "quat" is provided
inertia fix in btMinkowskiSumShape (based on AABB)
 2017-04-05 12:22:38 -07:00
Jie Tan
1cd513024a make the URDF and the minitaur.py consistent with the real robot 2017-04-05 11:54:54 -07:00
erwincoumans
ac91896025 Merge pull request #1054 from erwincoumans/master 
pybullet setup.py / pip support for Windows, Linux and Mac! just run 'pip install pybullet' and wait until all compiled (like numpy, it is mainly source, except for a few wheels Mac 2.7 and Win32 3.5). Expose URDF_USE_SELF_COLLISION flag.
 2017-04-04 23:36:32 +00:00
yunfeibai
fedf718d9e minor fix for pybullet comment. 2017-04-04 13:45:49 -07:00
Erwin Coumans
b095e1d917 expose pybullet.URDF_USE_SELF_COLLISION flag, experimental (likely doesn't work well for many URDF files) 2017-04-04 12:47:34 -07:00
yunfeibai
b168f53ed9 Rename body index to body unique id. 2017-04-04 10:38:25 -07:00
Erwin Coumans
9507e8b4a1 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-04-02 23:02:26 -07:00
Erwin Coumans
e487bc360b add support for setuptools setup.py pybullet for 'pip install pybullet' 
rewrite MacOpenGLWindow.mm into .m version, so that setup.py can handle it.
See also test at https://pypi.python.org/pypi/pybullet/0.1.0
 2017-04-02 23:00:06 -07:00
yunfeibai
1e91e78469 Add pybullet API for logging contacts. 2017-04-02 16:03:20 -07:00
yunfeibai
0d83667817 Add C API to log contact points. 2017-04-02 15:45:48 -07:00
yunfeibai
7c7d831767 Add contact point logger. 2017-04-02 15:09:40 -07:00
Erwin Coumans
473196a492 remove vld.h 2017-03-30 13:56:37 -07:00
Erwin Coumans
a7c67b4d9d avoid memory leaks, even if a the python interpreter exits without calling 'disconnect' on all physics servers 
(register a Py_AtExit function that cleans all up), to avoid memory leaks
 2017-03-30 13:50:02 -07:00
Erwin Coumans
cebed74454 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-03-30 13:30:52 -07:00
Erwin Coumans
b1cbc3d4b0 fix a potential memory leak for URDF files with multiple materials using the same name 2017-03-30 13:30:38 -07:00
Erwin Coumans
1c5e5d2b3f Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-03-30 12:39:18 -07:00