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8,126 Commits 19 Branches 27 Tags 326 MiB
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Commit Graph

1216 Commits

Author SHA1 Message Date
Erwin Coumans
96deb42aa5 pybullet.createSoftBodyAnchor 2019-11-19 19:20:08 -08:00
Erwin Coumans
d42cf2d0ca enable compilation without deformables/soft bodies (for some unit tests 
in premake)
 2019-11-19 12:20:33 -08:00
Xuchen Han
6c34c91ca7 load render mesh from command 2019-11-18 23:37:23 -08:00
Erwin Coumans
e5ed15c3b2 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 23:37:23 -08:00
Xuchen Han
22fb2cfb5e add python binding to allow loading deformable objects 2019-11-18 23:37:22 -08:00
Erwin Coumans
655981c6ad fix load_soft_body.py example. 
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
 2019-11-18 23:37:22 -08:00
Erwin Coumans
1f6d504e44 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 10:22:56 -08:00
Xuchen Han
a86710c5b6 add python binding to allow loading deformable objects 2019-11-15 21:25:11 -08:00
Erwin Coumans
72e0e7c223 fix load_soft_body.py example. 
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
 2019-11-14 21:20:42 -08:00
Xuchen Han
2edd94c722 add option to approximate face contact with collision quadrature points 2019-11-12 17:10:39 -08:00
Xuchen Han
362bc6d9a3 fix the bug that prevents the pd control forces/torques being added 2019-11-08 17:08:59 -08:00
Chuyuan Fu
74571d79e7 add compute softbody com 2019-10-31 12:53:12 -07:00
Chuyuan Fu
618c85325c give softbody name 2019-10-31 12:53:12 -07:00
Chuyuan Fu
913400eba1 add SOLVER_USE_ARTICULATED_WARMSTARTING option and APIs 
fix compile
 2019-10-23 21:36:26 -07:00
Xuchen Han
3ae193ff15 bool->int 2019-10-15 15:43:26 -07:00
Xuchen Han
45c4497711 fix compile 2019-10-15 13:50:13 -07:00
Xuchen Han
992e1454b6 turn on SKIP_DEFORMABLE 2019-10-15 13:50:13 -07:00
Xuchen Han
c808bb78c7 delete lagrangian force when deleting dynamics world from command processor 2019-10-15 13:50:13 -07:00
Xuchen Han
94facf0029 typo fix 2019-10-15 13:50:13 -07:00
Xuchen Han
0cb7cb2445 bool->int 2019-10-15 13:47:55 -07:00
Xuchen Han
e13578fee3 add option to turn self-collision on/off 2019-10-15 13:47:55 -07:00
Xuchen Han
d0e4bbf04d fix gravity set up 2019-10-15 13:47:54 -07:00
Xuchen Han
ec91a0ffa4 configure damping coefficients for neohookean models 2019-10-15 13:47:54 -07:00
Xuchen Han
5a55374d85 pass render nodes instead of simulated nodes to renderer 2019-10-01 14:48:34 -07:00
Xuchen Han
187019268c enable deformable vs. deformable and self-collision in deformable loading 2019-09-28 15:10:06 -07:00
Chuyuan Fu
cd27ffd8b0 add body type info to dynamics info 2019-09-28 14:44:42 -07:00
Xuchen Han
3dcfcda19a typo fix 2019-09-28 14:44:41 -07:00
Xuchen Han
f813cb1c88 modify loadSoftBody to enable separate render mesh from simulation mesh 2019-09-28 14:44:41 -07:00
Erwin Coumans
0549fd4ecc PyBullet eglPlugin: 
use -1 as default egl render device
clear m_cachedVisualShapes at reset
 2019-09-27 17:14:36 -07:00
Erwin Coumans
391411b660 fix use of uninitialized variable 2019-09-25 13:49:11 -07:00
Erwin Coumans
2e5455def1 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-09-25 09:10:44 -07:00
Erwin Coumans
677fe1a368 fix define SKIP_DEFORMABE_BODY -> SKIP_DEFORMABLE_BODY 2019-09-25 09:08:48 -07:00
Erwin Coumans
bdf24bd4e7 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-09-24 13:43:20 -07:00
Erwin Coumans
32c38cd3dc remove 'disableVRCamera' to fix issue #2390 2019-09-24 13:42:45 -07:00
Erwin Coumans
275a2aecb0 fix compile issues 2019-09-13 09:37:23 -07:00
Erwin Coumans
db9bc4f835 PyBullet: write body sync data to larger shared memory 2019-09-09 18:05:29 -07:00
Erwin Coumans
64ea8e9f27 PyBullet createMultiBody(Batch), return all body unique ids 
PyBullet: fix crash: always check for existance m_multibodyWorld in ::render method
 2019-09-09 16:41:25 -07:00
Erwin Coumans
5a3c60c709 PyBullet: Fix syncBodyInfo for over 512 bodies. 
PyBullet: Fix issue related to recent change in drawDebugDrawerLines (soft body)
 2019-09-09 14:56:26 -07:00
erwincoumans
bcc7ea31ff
Merge pull request #2386 from xhan0619/newton 
Newton solver
 2019-09-06 10:32:59 -07:00
Erwin Coumans
74abd99192 fix asan int overflow in hash 2019-09-05 17:42:18 -07:00
Xuchen Han
1ded85e62e remove extra gravity field 2019-09-04 18:49:44 -07:00
Xuchen Han
3d2f945f9c address PR comments 2019-09-04 18:49:44 -07:00
Xuchen Han
f392d8ceb1 clean up memory when exiting 2019-09-04 18:49:43 -07:00
Xuchen Han
482458c9df improve deformable objects loading 2019-09-04 18:49:43 -07:00
Xuchen Han
0b391798b7 hook deformable world into the physics server 2019-09-04 18:48:00 -07:00
erwincoumans
85ba3ba957
Merge pull request #2396 from fuchuyuan/bodytypeAPI 
Add body type to dynamics info
 2019-09-04 09:37:31 -07:00
Michel Breyer
c374d01587 Deallocate importer in RestoreState 2019-09-04 13:10:34 +02:00
Chuyuan Fu
e4a5f9e06e add body type info to dynamics info 2019-09-03 14:27:19 -07:00
erwincoumans
9a7b89c95a
Update PhysicsServerCommandProcessor.cpp 
also allow to extract collision info (pybullet. getCollisionShapeData ) for concave meshes. Thanks to Brent.
 2019-08-22 07:38:23 -07:00
Erwin Coumans
f09cefabe8 Merge remote-tracking branch 'bp/master' 2019-08-14 21:14:56 -07:00
erwincoumans
6feb1b25db
Merge pull request #2365 from fuchuyuan/updateLoadingSoftBody 
update loading softbody
 2019-08-14 21:14:10 -07:00
Erwin Coumans
88d1788ee5 PyBullet: allow to update an existing heightfield shape 
Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default)
See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
 2019-08-14 21:06:10 -07:00
erwincoumans
75df77611a
Merge pull request #2366 from fuchuyuan/tinyObjUpdate 
update obj loader
 2019-08-14 13:37:14 -07:00
Chuyuan Fu
10108cd3ea update obj loader 2019-08-13 16:53:51 -07:00
Chuyuan Fu
b90097803e update loading softbody 2019-08-13 14:56:26 -07:00
Erwin Coumans
f9b232b153 pybullet: allow programmatic creation of heightfield. See https://github.com/erwincoumans/bullet3/tree/master/examples/pybullet/examples/heightfield.py 
premake4: allow to build example browser without C++11, re-enable stable PD control plugin using --enable_stable_pd=True
 2019-08-11 13:59:24 -07:00
Erwin Coumans
54111f7023 PyBullet: add support for internal edge filtering for height field terrains 2019-08-09 10:14:14 -07:00
Tigran Gasparian
ebe6d2df86 Don't reset user data on SyncBodyInfo() 2019-08-08 13:20:44 +02:00
Tigran Gasparian
cf25b6183d . 2019-08-08 10:53:23 +02:00
Tigran Gasparian
822c24e867 Clears body and user data caches when syncBodyInfo and syncUserData are called 2019-08-08 09:50:32 +02:00
erwincoumans
666e1a8bad
Merge pull request #2357 from fuchuyuan/setWarmStartFactor 
API and pybullet bindings for setting warmstarting factor
 2019-08-07 17:34:58 -07:00
erwincoumans
cc7a450a3b
Merge pull request #2354 from fuchuyuan/loadRigidbody 
add support to load rigidbody
 2019-08-07 17:30:46 -07:00
Chuyuan Fu
2e64b27a31 bindings for setting warmstarting factor 
fix space
 2019-08-06 15:53:31 -07:00
Erwin Coumans
098cde55fd sync graphics server at resetSimulation, load* and resetJointState 2019-08-06 10:56:21 -07:00
Chuyuan Fu
1cb3655f71 add support to load rigidbody 2019-08-05 13:38:43 -07:00
Erwin Coumans
7263439c4b improved for inserting profile timings from Python, to analyzer performance of pybullet programs. 
See examples/pybullet/examples/profileTiming.py for an example. Note that python and c++ is properly interleaved.
Open a timings with a name, close the timing without a name. Note that timings can be recursive, added/popped as a stack.
 2019-08-01 19:12:16 -07:00
erwincoumans
1feb186204
Update PhysicsClientC_API.cpp 
use B3_PI definition
 2019-07-30 17:43:24 -07:00
Erwin Coumans
4429c6dc9e avoid Mac OSX bus error -> no large static arrays 2019-07-29 22:20:45 -07:00
Erwin Coumans
51fba6f78d export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) 
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
 2019-07-29 20:23:38 -07:00
Erwin Coumans
36f3adc03f copy/move heightfield files around (part of pybullet_data) 
prepare for heightfield support in pybullet (first step, needs a bit more)
 2019-07-25 13:01:26 -07:00
Erwin Coumans
b2825724d4 only if SPD is enabled 2019-07-21 22:03:23 -07:00
Erwin Coumans
8f220c1b23 fix memory leak in previous commit 2019-07-21 21:48:51 -07:00
Erwin Coumans
39a4e8dcd9 Implement faster array versions of PyBullet: getJointStatesMultiDof, getLinkStates, setJointMotorControlMultiDofArray, resetJointStatesMultiDof, 
Implement StablePD in C++ through setJointMotorControlMultiDofArray method for pybullet_envs.deep_mimic, see testHumanoid.py and examples/pybullet/examples/humanoidMotionCapture.py
Minor fix in ChromeTraceUtil in case startTime>endTime (why would it happen?)
 2019-07-21 13:08:22 -07:00
Erwin Coumans
31688ffb34 fix in multi-endeffector IK, calculate jacobian uses dofs without base, fix premake build of some projects 2019-07-11 22:22:35 -07:00
erwincoumans
8cc13efd2b
Merge pull request #2323 from erwincoumans/master 
fix issue in previous commit (need to reserve instead of resize)
 2019-07-10 20:53:22 -07:00
Erwin Coumans
7a7f944e39 fix issue in previous commit (need to reserve instead of resize) 2019-07-10 20:52:45 -07:00
erwincoumans
d220101c5a
Merge pull request #2322 from erwincoumans/master 
PyBullet.calculateInverseKinematics2 for IK with multiple end-effector locations
 2019-07-10 19:58:17 -07:00
Erwin Coumans
ee9575167d expose PyBullet.calculateInverseKinematics2 that allows to specify multiple IK end effector locations (not multiple orientations) 
usage example:
jointPoses = p.calculateInverseKinematics2(bodyUniqueId, [endEffectorLinkIndices], [endEffectorTargetWorldPositions])
 2019-07-10 17:21:18 -07:00
erwincoumans
9ac2261557
Update PhysicsServerCommandProcessor.cpp 
set alpha default to 1, just in case.
 2019-07-09 08:42:52 -07:00
Andreas Christiansen
8c8a7fa0c9 Fix memory sanitizer warning on potential reading of uninitialized memory. This can happen for the RGB values that are only conditionally set in TinyRendererVisualShapeConverter::addVisualShape. 2019-07-09 11:52:42 +02:00
Erwin Coumans
9db6acd97d support changeVisualShape(rgbaColor) through GraphicsServer/Client 
support getCameraInfo through GraphicsServer/Client
 2019-07-02 09:48:34 -07:00
Chuyuan Fu
d5e028c673 take out unused variable 2019-07-01 13:31:00 -07:00
Chuyuan Fu
4da456054c Update PhysicsServerCommandProcessor and plugins to support render 2019-06-25 17:59:15 -07:00
Erwin Coumans
d4aac235fc Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-06-19 12:08:52 -07:00
Erwin Coumans
16542aa740 tweak Mini Cheetah URDF/MTL 
use /tmp/timings on Linux/Mac as default location to save profile timings (when you press 'p' in example browser)
fix in Graphics Server Example when rendering is disabled
 2019-06-19 12:07:26 -07:00
Erwin Coumans
ed4515ae17 for the GraphicsServer, expose a sync transform interval: only synchronize the transform once the stepSimulation exceeds this time interval. 
(for example, run the simulation at 1kHz but sync the graphics transforms to remove graphics server at 30Hz)
 2019-06-19 09:45:29 -07:00
Erwin Coumans
c3b7f39aaf expose shadowMapResolution (texture resolution) and shadowMapWorldSize (size in meters in world space) 
expose pybullet.ConfigureOpenGLVisualizerRequest(lightPosition=[x,y,z], shadowMapWorldSize=10.5, shadowMapResolution=16384)
See examples/pybullet/examples/configureDebugVisualizer.py for an example.
This reimplements https://github.com/bulletphysics/bullet3/pull/2295 but without creating a new command/status and explicitly referring to the debug visualizer
(since the 'getCameraImage' also has a lightPosition)
 2019-06-19 09:01:16 -07:00
Erwin Coumans
7e76ee0ad7 make pybullet.getMeshData work for softbody 2019-06-17 21:43:38 -07:00
Erwin Coumans
20d9ad5f24 Merge remote-tracking branch 'bp/master' 2019-06-17 20:37:34 -07:00
Chuyuan Fu
229e87c3c9 get mesh data api 
fix compile

fix typo
 2019-06-17 19:00:53 -07:00
Erwin Coumans
d888c50f15 avoid getting stuck in RemoteGUIHelper when graphics server isn't started first. 2019-06-17 18:30:39 -07:00
Erwin Coumans
e286fbd9f2 fixes for RemoteGUIHelper 2019-06-15 10:30:48 -07:00
Erwin Coumans
ee3680765e fixes for RemoteGUIHelper 2019-06-14 14:34:56 -07:00
Erwin Coumans
708f66ac42 add RemoteGUIHelper to communicate between graphics client/server 2019-06-14 08:06:21 -07:00
Erwin Coumans
6160b52fd7 graphicsServer to workaround OpenGL issues on some servers. 2019-06-13 23:24:22 -07:00
Erwin Coumans
2b9bece2c8 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2019-05-08 12:03:46 -07:00
Erwin Coumans
577dd16299 fix test compilation 2019-05-08 12:03:23 -07:00
mbennice
1d2a1c093d Update GRPC conversion of SDF and State Update 2019-05-07 11:18:11 -07:00
mbennice
cf16c5c51f Reduces wait in the gRPC plugin, fix state bug. 
Updates the gRPC plugin to gather messages in its own thread, and
corrects the state details not being correctly added to shared memory.
 2019-05-07 11:11:01 -07:00
Erwin Coumans
defa172d39 improve grpc support 2019-05-07 08:13:27 -07:00