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Author SHA1 Message Date
Jeongseok Lee
8857638ded Revert C++ code changes to make the PR small 2018-07-18 11:57:34 -07:00
erwincoumans
a8d81eb155
Merge pull request #1787 from jslee02/multibody_cleanup 
Minor code optimization in multibody forward dynamics
 2018-07-18 10:19:02 +02:00
Jeongseok Lee
b3d8639004
Run apt-get update before installing python3-pip 2018-07-10 11:26:00 -07:00
Jeongseok Lee
6323309f89 Fix c++11-narrowing errors in multibody examples 2018-07-10 09:22:41 -07:00
Jeongseok Lee
6f27baf392 Revert "Fix c++11-narrowing errors in multibody examples" 
This reverts commit 64db9af036.
 2018-07-10 09:21:49 -07:00
Jeongseok Lee
64db9af036 Fix c++11-narrowing errors in multibody examples 2018-07-10 09:20:00 -07:00
Jeongseok Lee
3d1cd749b4 Add Travis CI settings for Xenial and Bionic 2018-07-09 21:57:57 -07:00
Jeongseok Lee
deea2bb411 Use const reference for referencing existing members 2018-07-09 20:59:29 -07:00
Jeongseok Lee
6dbdf02808 Minor code optimization in multibody forward dynamics 2018-07-09 20:54:13 -07:00
Jeongseok Lee
15258fbdcc Merge remote-tracking branch 'upstream/master' into multibody_cleanup 2018-07-09 14:58:23 -07:00
erwincoumans
3d5c921495
Merge pull request #1782 from RanTig/userdata 
Changes UserData to use global identifiers and makes linkIndex optional.
 2018-07-09 11:36:51 +02:00
erwincoumans
d6aae09290
Merge pull request #1780 from erwincoumans/master 
PyBullet: preliminary DART and MuJoCo backend code (mostly empty placeholders)
 2018-07-09 11:25:33 +02:00
Erwin Coumans
f8cc33f3a3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-07-08 11:24:37 +02:00
Erwin Coumans
127b82ec1b expose texture unique id after loading URD file, so you can restore to the original texture after changing it to a custom texture. See also getTextureUid.py example. 2018-07-08 11:23:12 +02:00
Tigran Gasparian
49684144dc Some minor formatting fixes 2018-07-05 16:01:03 +02:00
Tigran Gasparian
8a6db042de Removes int initializer in SharedMemoryUserDataHashKey, changes '>>' into '> >' for nexted templates. 2018-07-04 14:25:48 +02:00
Tigran Gasparian
7c7e8af717 Increases the shared memory magic number. 2018-07-04 10:22:44 +02:00
Erwin Coumans
2ce1e65b53 PyBullet: tweak in TCP server for VR - ROS bridge 2018-07-03 16:30:54 -07:00
Erwin Coumans
c0183d4834 Merge remote-tracking branch 'bp/master' 2018-07-03 16:28:45 -07:00
Tigran Gasparian
9c7aa3a863 Changes UserData to use global identifiers and makes linkIndex optional. 
This removes the need to specify the body id/link index when retrieving a user data entry.
Additionally, user data can now optionally be set to visual shapes as well.

The following public pybullet APIs have changed (backwards incompatible)
addUserData and getUserDataId
  Makes linkIndex parameter optional (default value is -1)
  Adds optional visualShapeIndex parameter (default value is -1)

getUserData and removeUserData
  Removes required parameters bodyUniqueId and linkIndex

getNumUserData
  Removes required bodyUniqueId parameter

getUserDataInfo
  Removes required linkIndex parameter
  Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
 2018-07-03 17:45:19 +02:00
erwincoumans
23f235e449 PyBullet: add example to enable another physics engine backend (DART, MuJoCo) 2018-07-01 14:49:34 -07:00
erwincoumans
98fc4b1510 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-07-01 14:42:48 -07:00
erwincoumans
0d8564db22 PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. 
PyBullet: add 2d biped example.,
 2018-07-01 14:42:32 -07:00
Erwin Coumans
bfc85ff1fd PyBullet: TCP connection, optimized getVREvents to allow faster Windows -> Linux Vive tracking state communication. 2018-06-27 23:43:42 -07:00
erwincoumans
04556502f0
Merge pull request #1778 from erwincoumans/master 
fix hidden API
 2018-06-27 09:21:11 -07:00
Erwin Coumans
ac59886960 fix hidden API 2018-06-27 07:39:56 -07:00
erwincoumans
c531234f3a
Merge pull request #1774 from erwincoumans/master 
PyBullet: allow to replace existing debug lines in addUserDebugLine t…
 2018-06-26 10:40:40 -07:00
Erwin Coumans
6549b0a586 re-enable optional tracking of memory allocations (disabled by default) 2018-06-26 09:19:10 -07:00
Erwin Coumans
dffff4d3b6 Merge remote-tracking branch 'bp/master' 2018-06-26 08:58:38 -07:00
erwincoumans
e023d94b32
Merge pull request #1775 from bingjeff/marios_fix_global_variables 
remove some debug globals from third_party/bullet
 2018-06-26 08:58:27 -07:00
Erwin Coumans
21b089b0d7 Merge remote-tracking branch 'bp/master' 2018-06-26 08:57:44 -07:00
erwincoumans
1b69e22df6
Merge pull request #1776 from YunfeiBai/master 
Remove the pdController when maxForce = 0
 2018-06-26 08:54:40 -07:00
YunfeiBai
812c229736 Remove the pdController when maxForce = 0 2018-06-24 17:06:16 -07:00
Jeffrey Bingham
f2afb4af35 remove some debug globals from third_party/bullet 
There are some debug global variables that prevent using bullet safely on multi-threaded environments (tsan failures).

PATCH from marioprats@
 2018-06-23 22:01:41 -07:00
Erwin Coumans
2c881d0b74 bump up pybullet version to 2.0.9 2018-06-23 11:53:12 -07:00
erwincoumans
49b0ec08e1 PyBullet: allow to replace existing debug lines in addUserDebugLine through the replaceItemUniqueId argument 
See batchRayCast.py for example usage
 2018-06-22 16:47:20 -07:00
erwincoumans
6b2cae1b1d
Merge pull request #1769 from RanTig/parallel_raycast_fix 
Several fixes for the parallel raycasts
 2018-06-22 15:49:56 -07:00
Tigran Gasparian
618e3230a4 Fix: Use function context reference instead of value 2018-06-22 20:41:02 +02:00
erwincoumans
09751a0b6b
Merge pull request #1770 from erwincoumans/master 
PyBullet urdfEditor use in example,  PyBullet.setPhysicsEngineParameter: only update solverResidualThreshold if needed
 2018-06-22 11:06:37 -07:00
erwincoumans
784f0fdc04 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-06-22 09:28:14 -07:00
erwincoumans
55e185fe39 PyBullet loadURDF in useMaximalCoordinated=True (btRigidBody), support lower/upper limits for revolute joints. 2018-06-22 09:28:07 -07:00
Erwin Coumans
092e39a9e5 PyBullet urdfEditor example, use the pybullet_utils version (more up-to-date) 2018-06-22 09:18:55 -07:00
Erwin Coumans
fcde193d52 PyBullet.setPhysicsEngineParameter: only update solverResidualThreshold if valid values is given 2018-06-20 13:18:08 -07:00
Tigran Gasparian
b84eb8af74 Several fixes for the parallel raycasts 
- Limits the maximum number of threads to 64, since btThreadSupportPosix
and btThreadsupportWin32 don't support more than 64 bits at this moment,
due to the use of UINT64 bitmasks. This could be fixed by using
std::bitset or some other alternative.
- Introduces a threadpool class, b3ThreadPool, which is a simple wrapper
around btThreadSupportInterface and uses this instead of the global task
scheduler for parallel raycasting. This is actually quite a bit faster
than the task scheduler (~10-15% in my tests for parallel raycasts),
since the advanced features (parallelFor) are not necessary for the
parallel raycasts.
- Puts 16*1024 of MAX_RAY_INTERSECTION_MAX_SIZE_STREAMING in
parentheses, since it otherwise causes problems with other operators
of equal precedence and introduces a smaller constant for Apple targets.
- Refactors the parallel raycasts code and adds some more profiling.
 2018-06-19 18:41:42 +02:00
erwincoumans
8c851a70c7
Merge pull request #1766 from erwincoumans/master 
lazy creation of batch scheduler, it causes issues with the physics.
 2018-06-16 14:02:11 -07:00
erwincoumans
42c9d9aa3c lazy creation of batch scheduler, it causes issues with the physics. 2018-06-16 13:59:03 -07:00
erwincoumans
046d95b7e6
Merge pull request #1765 from erwincoumans/master 
PyBullet: deal with backward compatibility of b3RaycastBatchAddRay
 2018-06-16 13:09:17 -07:00
Erwin Coumans
9b0845a0f1 Merge remote-tracking branch 'bp/master' 2018-06-16 12:30:39 -07:00
erwincoumans
c55720fb41 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-06-16 12:28:38 -07:00
erwincoumans
7924d51665 PyBullet: deal with backward compatibility of b3RaycastBatchAddRay: 
use b3RaycastBatchAddRays API to enable MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING num rays.
Old API (b3RaycastBatchAddRay) sticks to 256 rays, MAX_RAY_INTERSECTION_BATCH_SIZE.
 2018-06-16 12:28:21 -07:00