Commit Graph

540 Commits

Author SHA1 Message Date
erwincoumans
83f910711a Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API
!!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed
Bump up pybullet to version 1.0.9
2017-05-30 19:54:55 -07:00
erwincoumans
4e03c36fa6 add pybullet.multiplyTransforms and pybullet.invertTransform
use btAssert instead of assert (glGetError is really slow)
shift default light-position a little bit, to make faces different color
2017-05-29 21:55:58 -07:00
erwincoumans
5436b8f048 print better error warning, in case the physics client/server version mismatch.
fix in b3HashString
remove many unused dependencies from kuka_grasp_block_playback.py (time,math, datetime ,numpy,pylab ,sys, os, fnmatch,argparse were not used!)
move block_grasp_log.bin from Bullet3/data to Bullet3/examples/pybullet/examples/data folder.
PhysicsServerCommandProcessor, derive from CommandProcessorInterface to prepare for different back-end implementation
2017-05-28 17:05:18 -07:00
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
e023c012b4 TinyRendererVisualShapeConverter set near/far for its own camera. 2017-05-25 13:39:36 -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
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
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
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
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
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
Erwin Coumans
16a8dceb73 fix warning 2017-05-18 08:31:40 -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
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
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
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
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
Oleg Klimov
d755513146 Rewrite collision filtering code 2017-05-11 12:59:11 +03:00
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
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
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
Oleg Klimov
1524004aa8 MJCF: support for "axisangle", small code improvements 2017-05-06 14:49:43 +03:00
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
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