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2435 Commits

Author SHA1 Message Date
Erwin Coumans
90f002e07d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-10-05 19:41:10 -07:00
Erwin Coumans
8a0d96edce tweaks in pybullet/examples for Mac OSX 2018-10-05 19:40:52 -07:00
erwincoumans
9a7cc7bcd7 add getCameraImageTest.py to compare GUI (with OpenGL3 GLInstancingRenderer), TinyRenderer and DIRECT+eglPlugin (with OpenGL3 GLInstancingRenderer) 2018-10-05 19:31:03 -07:00
erwincoumans
2c13e70d1a make projective textures work in DIRECT+eglPlugin (see examples/pybullet/examples/projective_texture.py) 2018-10-05 19:24:44 -07:00
erwincoumans
111ffc784d Use 2560x2048 as default window/framebuffer size for eglPlugin. 2018-10-05 18:28:37 -07:00
erwincoumans
40d7e292f2 fix depth image for eglPlugin, also fix setRGBA color for eglPlugin. 2018-10-05 18:25:51 -07:00
erwincoumans
67954a873e
Merge pull request #1917 from erwincoumans/master 
reverse ER_SEGMENTATION_MASK to ER_NO_SEGMENTATION_MASK so segmentation
 2018-10-04 18:41:16 -07:00
Erwin Coumans
24ca5afe95 reverse ER_SEGMENTATION_MASK to ER_NO_SEGMENTATION_MASK so segmentation 
mask is rendered by default
 2018-10-04 14:14:24 -07:00
Wenlong Lu
24f5b819cf fix a memory leak 2018-10-02 10:58:23 -07:00
erwincoumans
8aff1fbd49 removed flags from loadURDF command. The flags are already available in m_data->m_flags in BulletUrdfImporter.cpp 2018-10-02 08:39:47 -07:00
bla
0f8b8388a6 eglPlugin, one more fix, remove graphics instances at resetAll 2018-10-02 08:13:51 -07:00
erwincoumans
da37f1d559 add glViewport after call to startRendering (some renderers call glViewport) 2018-10-02 07:49:13 -07:00
erwincoumans
c9bd997acf
Merge pull request #1910 from WenlongLu/create_status 
Two minor updates for PhysicsServerCommandProcessor
 2018-10-01 18:53:13 -07:00
bla
7cd962467e fix EGL issue related to glViewport in startRender method 2018-10-01 18:51:02 -07:00
Wenlong Lu
085984f003 update complete status for removing collision shape 2018-10-01 17:54:23 -07:00
Wenlong Lu
167520a5e6 pass plane constant 2018-10-01 17:38:24 -07:00
erwincoumans
bfafd9b0ae Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-09-30 20:02:32 -07:00
erwincoumans
6d89413336 scaling striding is 4 (scaling+object uid) instead of 3, also for transparent objects 2018-09-30 20:02:12 -07:00
erwincoumans
0ffa9a97bd scaling striding is 4 (scaling+object uid) instead of 3, also for transparent objects 2018-09-30 19:52:19 -07:00
Erwin Coumans
42ae4e81a8 apply clang-format (on Mac, slightly different than running it on Windows) 2018-09-30 11:43:57 -07:00
erwincoumans
5bcd43711a PyBullet OpenGL/EGL hardware getCameraImage: use glViewport to reduce the glReadPixels calling cost dramatically for small images 
PyBullet Allow OpenGL/EGL hardware to render segmentation mask. Use pybullet.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX or pybullet.ER_SEGMENTATION_MASK
PyBullet.removeBody fix indexing bug (use foundIndex, not i)
PyBullet bump up version to 2.2.3
 2018-09-30 07:10:40 -07:00
erwincoumans
254edb61cb Merge remote-tracking branch 'bp/master' 2018-09-29 10:35:01 -07:00
erwincoumans
00ed0dce24
Merge pull request #1900 from crewmatt/master 
Update URDF Importer to process Sensor elements.
 2018-09-28 17:06:27 -07:00
erwincoumans
39bca74041 Merge remote-tracking branch 'bp/master' 2018-09-28 10:14:45 -07:00
mbennice
6655bd60c8 Update stb_image.h import 2018-09-27 14:09:00 -07:00
mbennice
99dbedab6e Update import 2018-09-27 12:49:39 -07:00
mbennice
7485999254 Clang Format Change 2018-09-27 10:00:39 -07:00
mbennice
30d4c4136a Piping through the flag to parse sensors 2018-09-27 09:49:59 -07:00
Cloud Wu
8ff4b5187a fix mingw build 2018-09-27 11:48:12 +08:00
Wenlong Lu
8cdb514ffb missed one 2018-09-26 17:46:39 -07:00
Wenlong Lu
2681f5cd9f add const qualifiers to all double* inputs in PhysicsClientC_API 2018-09-26 17:24:40 -07:00
mbennice
173cc2538f Correct header update 
Revert the header update change.
 2018-09-26 16:38:59 -07:00
mbennice
f79b04357f Update URDF Importer to process sensor elements. 
Update the URDF Importer to add sensors as 0 mass 0 inertia elements
attached by a fixed joint. This way their states can be read as links.
 2018-09-26 16:35:22 -07:00
Wenlong Lu
3c0e57e025 add const qualifier to double [] inputs 2018-09-26 15:02:22 -07:00
Erwin Coumans
cd2f111a10 update pybullet version, include *.* from OpenGLWindow 2018-09-25 17:06:32 -07:00
Erwin Coumans
f20b7bb07c tweak pole IK demo 2018-09-25 06:22:06 +00:00
erwincoumans
c1ba89a01c Fix eglPlugin 2018-09-24 08:06:28 -07:00
Julian Viereck
219dfc757a Adding support for lateral friction to getContactPoints() 2018-09-24 10:03:43 -04:00
erwincoumans
ab8f16961e Code-style consistency improvement: 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
 2018-09-23 14:17:31 -07:00
erwincoumans
b73b05e9fb add getClosestPoints.py example. 
allow to perform a getClosestPoints query with a collisionShape and world transform (position, orientation) that isn't part of the world.
(use createCollisionShape to create it)
add optional removeCollisionShape, for collision shapes only used in a query (and not used to create a body)
 2018-09-22 14:18:21 -07:00
erwincoumans
cdf8c908ad add getClosestPoints.py example. 
allow to perform a getClosestPoints query with a collisionShape and world transform (position, orientation) that isn't part of the world.
(use createCollisionShape to create it)
 2018-09-22 13:17:09 -07:00
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
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
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
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
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
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
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
Erwin Coumans
f26d4fdc4c pybullet eglPlugin: fix Mac OSX build 2018-09-10 08:55:47 -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
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
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
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
Erwin Coumans
7376c26e4b remove gl libs from openvr 2018-09-07 16:06:42 -07:00
erwincoumans
5164f2f9a7 remove pre-build proto/grpc files (they differ for each platform and proto/grpc version) 2018-09-07 15:44:33 -07:00
erwincoumans
0efc67841d allow pybullet to connect to GRPC server. (need to use flag --enable_grpc in premake build system) 
add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes.
example script to start server from pybullet:
import pybullet as p
p.connect(p.GUI)
#if statically linked plugin
id = p.loadPlugin("grpcPlugin")
#dynamics loading the plugin
#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")

#start the GRPC server at hostname, port
if (id>=0):
	p.executePluginCommand(id, "localhost:1234")

Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs:
numRPC = 10
while (1):
	p.executePluginCommand(id, intArgs=[numRPC])
 2018-09-05 17:58:14 -07:00
Erwin Coumans
31b06f508a only add notifications if there is a plugin that needs them 
call the 'reportNotifications' in GRPC server main
 2018-09-04 19:24:31 -07:00
Erwin Coumans
18b782847d make GRPC work on Linux, 2018-09-04 16:56:34 -07:00
Erwin Coumans
51f9a6fd0d make grpc work on Mac OSX with premake 2018-09-04 14:49:12 -07:00
erwincoumans
710e660763
Merge pull request #1855 from erwincoumans/master 
more work on grpc/proto/pybullet.proto
 2018-09-04 12:11:03 -07:00
erwincoumans
c4842220a8
Merge pull request #1852 from RanTig/remove-visual-shape 
Removes visual shape data when a body gets removed.
 2018-09-04 09:42:48 -07:00
erwincoumans
9b66074949 add some missing GRPC files 2018-09-04 09:10:57 -07:00
erwincoumans
9e2f6c7935 more GRPC work 2018-09-03 23:13:15 -07:00
Tigran Gasparian
a670041793 Small fix in executePluginCommand, now you can pass int arguments while keeping floats null without errors. 2018-09-03 10:41:38 +02:00
Tigran Gasparian
93145f3979 Adding space to make compiler happy. 2018-09-03 10:37:22 +02:00
erwincoumans
23e84ca9b6 more work on proto/pybullet.proto 2018-09-01 13:49:56 -07:00
Tigran Gasparian
9799f356de . 2018-08-31 15:35:35 +02:00
Tigran Gasparian
f132b4d16b Only make the change for Linux, since OSX doesn't have dlmopen() 2018-08-31 15:33:08 +02:00
Tigran Gasparian
c062bfc2d5 Removes visual shape data when a body gets removed. 
Problem description:
When you add a body, remove it and then add a new
body, the body id may be reused by Bullet.
Because the visual shape data was not being removed when a body was
removed, requesting the visual shape data for a 'recycled' body id
results in both the visual shape data of the new body as well as the old
one.
Removing the visual shape data when the body gets removed fixes this.

Changes the btAlignedObjectArray for visual shapes to a hashmap, so
that removing is faster. Additionally, functions like getNumVisualShape
don't perform a linear search anymore.
 2018-08-31 15:12:28 +02:00
Tigran Gasparian
6036c027bf Uses dlmopen() instead of dlopen() in b3PluginManager.cpp. This allows plugins to be loaded in a separate namespace, avoiding symbol conflicts. 2018-08-31 10:53:46 +02:00
Erwin Coumans
40a15053bd add createProtobufs.sh script for Mac/Linux (only tested on Mac so far) 2018-08-30 10:09:00 -07:00
Max Argus
425ecbd3e6 fix cmake, linux only (patch egl) 2018-08-30 13:24:25 +02:00
Max Argus
964a5116eb fix cmake + apple (patch egl) 2018-08-30 13:24:25 +02:00
Max Argus
902818894c fix cmake (patch egl) 2018-08-30 13:24:25 +02:00
Max Argus
c1d6c6b07d clean test scripts 2018-08-30 13:24:25 +02:00
Max Argus
bdc0f82a8b added syncronized render test script 2018-08-30 13:24:25 +02:00
Max Argus
e15fb0866c rendertest + parallel pip + no debug for plugin 2018-08-30 13:24:25 +02:00
Max Argus
35b30359e3 nearly working 2018-08-30 13:24:25 +02:00
Max Argus
5f71aa859f wip 2018-08-30 13:24:25 +02:00
Max Argus
21462d1c02 update GLIR camera 2018-08-30 13:24:25 +02:00
Max Argus
a6a8b091ca wip 2018-08-30 13:24:25 +02:00
Max Argus
05f82e8867 egl plugin working 2018-08-30 13:24:25 +02:00
Max Argus
f80f0c76a4 added egl plugin commit 2018-08-30 13:24:25 +02:00
Max Argus
2707b7acb4 apple issue 2018-08-30 13:24:25 +02:00
Max Argus
1b95961617 fix build 2018-08-30 13:24:25 +02:00
Max Argus
9328d0bb5f fix build 2018-08-30 13:24:25 +02:00
Max Argus
a9ba3eb8cc fixed cmake 2018-08-30 13:24:25 +02:00
Max Argus
f0e7f266ef switched to new glad2 2018-08-30 13:24:25 +02:00
Max Argus
5dbf2373ad load gl with egl not glx 2018-08-30 13:24:25 +02:00
Max Argus
6e828688e7 activate EGL + add rendertest.py 2018-08-30 13:24:25 +02:00
Max Argus
5e8ee98f2e fix OpenGL3App argument order 2018-08-30 13:24:25 +02:00
a
3d499c8a7a pybullet: added EGL render device and window_backend option. 
EGL review.
EGL dynamic loading, windowType to int
moved to glad2
Require GL 3.3 as GLInstancingRenderer.cpp uses glVertexAttribDivisor
glad2 update with dynamic X11 added
removed old file
build fix
fix mac/win
EGL w/o c++11, off by default
fix premake
fixup: premake fix 2
 2018-08-30 13:24:25 +02:00
erwincoumans
4f7dfc2069 Add preliminary GRPC server for PyBullet and BulletRobotics. 
Will add GRPC client and PyBullet GRPC server plugin.
Will cover most/all SharedMemoryCommand/SharedMemoryStatus messages.
Run the server, then test using the pybullet_client.py
 2018-08-29 21:12:13 -07:00
Erwin Coumans
72c48870b0 after picking in a multibody demo, allow sleeping for rigid bodies 2018-08-26 18:07:28 -07:00
Erwin Coumans
186ddb81d8 fix tab/space issue in Python file 
fix determinism issue introduced in previous commit
 2018-08-26 17:17:42 -07:00
Erwin Coumans
6ab6cf0bdb test if different broadphase maintains determinism 2018-08-26 16:49:17 -07:00
Erwin Coumans
ff43cea263 Fix some deactivation issues with btMultiBodyDynamicsWorld, should also improve performance for PyBullet with larger worlds 
(even when sleeping is disabled, islands are split)
 2018-08-26 16:14:36 -07:00
Erwin Coumans
3036a6d2bc also drop 'model://' from URDF file names (like we drop package://) 2018-08-26 09:33:51 -07:00
erwincoumans
78946c8ca7
Merge pull request #1842 from crewmatt/crewmatt-ikoriginalpositions 
Allow current positions for Calculate IK.
 2018-08-23 23:07:48 -07:00
Erwin Coumans
61b7591b8e expose choice of contraint solver in PyBullet, with switchConstraintSolver example 2018-08-23 23:04:17 -07:00
mbennice
780b280181 Allow current positions for Calculate IK. 
Allows the user to specify the current positions of joints when
calculating Inverse Kinematics.
 2018-08-23 13:19:15 -07:00
Erwin Coumans
6d53f1a6d9 fix parameter mismatch in SerialChains.cpp 2018-08-09 17:15:54 -07:00
Erwin Coumans
90e08b41a5 bump up pybullet version 2018-08-09 16:53:11 -07:00
Erwin Coumans
15e831ab99 revert default linear slop, need to handle restitution separately 2018-08-09 16:49:25 -07:00
Erwin Coumans
d6cf60ab83 Merge remote-tracking branch 'bp/master' 2018-08-09 16:48:55 -07:00
Erwin Coumans
07b21ca4a2 add missing SerialChains.cpp file to premake4.lua 2018-08-09 16:30:20 -07:00
Jeongseok Lee
3627407041 Remove Lemke from SerialChains demo 2018-08-07 15:27:54 -07:00
Jeongseok Lee
48e5a3a9ed Cleanup SerialChains demo 2018-08-07 15:18:58 -07:00
Jeongseok Lee
777ffac5c2 Fix typo in demo name: MultiDofCreateFunc --> MultiDof 2018-08-06 10:42:25 -07:00
Jeongseok Lee
e8e97d39fe Merge remote-tracking branch 'upstream/master' into multibody_mlcp_solver_v2 2018-08-06 10:34:43 -07:00
Erwin Coumans
56e7333941 bump up pybullet version 2018-08-04 09:58:15 -07:00
erwincoumans
961d8adad1
Merge pull request #1806 from erwincoumans/master 
prepare build system(s) for collisionFilterPlugin
 2018-08-03 17:43:13 -07:00
Jeongseok Lee
89c6a83ae9 Add MLCP constraint solver for multibody 2018-08-02 22:53:30 -07:00
Tigran Gasparian
d93980f89f Adds a simulation stepped notification 
This notification is called when the simulation is stepped, regardless
of whether any objects have moved.
 2018-08-01 17:49:58 +02:00
Erwin Coumans
08b5e6d766 add collisionFilterPlugin to pybullet plugin, also apply quat->euler fix for singular cases 2018-07-30 17:53:37 +02:00
Erwin Coumans
e75178181d safe normalize on degenerate triangles 2018-07-30 12:21:02 +02:00
Erwin Coumans
2cab56d6ef prepare build system(s) for collisionFilterPlugin 2018-07-27 15:48:24 +02:00
erwincoumans
8b27a7311c
Merge pull request #1801 from RanTig/TickPlugins 
Notify plugins on certain events (e.g. body added).
 2018-07-27 14:58:55 +02:00
Erwin Coumans
a696bd6a46 fix memory leak reported in Issue #1800 
avoid access to array elements outside of range
 2018-07-25 19:59:29 +02:00
Tigran Gasparian
35a55b2056 Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR. 2018-07-25 14:47:34 +02:00
Tigran Gasparian
f745eafb36 Changes dynamic_cast<> to c-style cast. 2018-07-24 16:04:16 +02:00
Tigran Gasparian
c59afb88c4 Notify plugins on certain events (e.g. body added). 
This also adds a periodic tick function to plugins, giving them periodically control over the simulation thread, even when the simulation is paused.
 2018-07-24 14:12:16 +02:00
erwincoumans
defd961f60
Merge pull request #1798 from erwincoumans/master 
Change constraint solver threshold-based termination condition on res…
 2018-07-22 12:28:32 +02:00
Erwin Coumans
b5495e789d Change constraint solver threshold-based termination condition on residual of velocity threshold, not on residual of impulse threshold. 
This avoids issues with systems with large mass ratios.

Test: add this to BasicDemo/BasicExample.cpp in initPhysics

	m_dynamicsWorld->getSolverInfo().m_numIterations = 1000;
	m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-4;
 2018-07-22 11:30:16 +02:00
erwincoumans
c254768d1a
Merge pull request #1793 from jslee02/fix_build_clang6 
Fix build errors with Clang 6 (also resolve #1510)
 2018-07-19 09:20:42 +02:00
Jeongseok Lee
8b26945f8f Fix build errors with Clang 6 (also addresses #1510) 2018-07-18 12:02:36 -07:00
Jeongseok Lee
8857638ded Revert C++ code changes to make the PR small 2018-07-18 11:57:34 -07:00
Jeongseok Lee
6323309f89 Fix c++11-narrowing errors in multibody examples 2018-07-10 09:22:41 -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
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
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
Erwin Coumans
ac59886960 fix hidden API 2018-06-27 07:39:56 -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
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
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
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
42c9d9aa3c lazy creation of batch scheduler, it causes issues with the physics. 2018-06-16 13:59:03 -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
Erwin Coumans
b94df12081 add missing pthread link in App_HelloBulletRobotics 2018-06-16 10:20:43 -07:00
erwincoumans
04d03d10be Fix memory leak due to batchRayCast never deleting the btTaskScheduler. 
(and issue with TaskScheduler/btTaskScheduler.cpp, add JobQueue::exit, call it first, since it uses the m_threadSupport which was deleted before the destrucor was called.
Use a hashmap to store user timers, to avoid allocating many identical strings.
 2018-06-16 09:37:53 -07:00
erwincoumans
cb1fce7899 revert exposing getSharedMemoryStreamBuffer / adding to command structure 
use 16k rays by default
add uploadRaysToSharedMemory method
 2018-06-16 08:14:00 -07:00
erwincoumans
23f9250e04 Merge remote-tracking branch 'bp/master' 2018-06-16 06:58:10 -07:00
erwincoumans
d660042d76
Merge pull request #1763 from YunfeiBai/master 
Add the pdControlPlugin to the joint control C API, and add the PD co…
 2018-06-16 06:57:50 -07:00
erwincoumans
75ec8f3fd9 PyBullet: add batchRayCast.py example 2018-06-16 06:20:15 -07:00
erwincoumans
f517b03534 Expose pushProfileTimer / pop ProfileTimer in PhysicsClient API to benchmark Python parts of PyBullet. 
reduce 'm_cooldownTime' from 1000 microseconds to 100 microseconds (overhead in raycast is too large)
If needed, we can expose this cooldown time.
Replace malloc by btAlignedObjectArray (going through Bullet's memory allocator)
 2018-06-16 06:19:49 -07:00
erwincoumans
bb8cbcdaae Merge remote-tracking branch 'bp/master' 2018-06-16 06:06:18 -07:00
erwincoumans
5b3e43d4d8
Merge pull request #1760 from RanTig/ParallelRaycasts 
Adds multithreading support for batch ray casts.
 2018-06-16 05:54:34 -07:00
Alexis David Jacq
6adea4964f
forgot one "isAlive" to change 2018-06-16 14:00:05 +02:00
Alexis David Jacq
50b5edd7b5
isDone instead of isAlive 2018-06-16 13:53:05 +02:00
Erwin Coumans
fbbd675ed6 expose PyBullet API to wakeup/put objects to sleep, enable/disable deactivation 
fix wakeup -> reset deactivation clock
 2018-06-15 21:26:26 -07:00
YunfeiBai
1c0de3c4cb Add the pdControlPlugin to the joint control C API, and add the PD control mode (also available in pybullet). Modify the pdControl pybullet example to use the PD control mode with setJointMotorControl API. 2018-06-15 17:59:26 -07:00
Alexis David Jacq
292a3f1cf6
methode isAlive 
Method def isAlive(self), which defaults to return self._alive < 0, and each environment can override this method (Half Cheetah would implement return False)

(In response to bea468fb93)
 2018-06-15 17:55:20 +02:00
Tigran Gasparian
54986593c5 . 2018-06-15 17:46:31 +02:00
Tigran Gasparian
0b1dca3d9c Updates the documentation for the pybullet function rayTestBatch to include the numThreads parameter. 2018-06-15 17:46:12 +02:00
Alexis David Jacq
a57c480f28
Update gym_locomotion_envs.py 
As suggested in https://github.com/bulletphysics/bullet3/pull/1759. The default isDone lets done = alive<0, and a special case is made for halfcheetah, forcing done=False. 
I had to pass the 'alive' condition as an additive parameter of WalkerBaseBulletEnv.
 2018-06-15 17:38:35 +02:00
Erwin Coumans
976fea4eca fix saveRestoreState.py example 2018-06-15 08:31:39 -07:00
Tigran Gasparian
d244cf6061 Changes the default number of rays per thread from 32 to 16, when the user lets Bullet decide. 2018-06-15 17:13:10 +02:00
Tigran Gasparian
08409cae9f Adds multithreading support for batch ray casts. 
To enable the feature, enable the BULLET2_MULTITHREADING option.

Increases the number of rays that can go in a batch request by storing
them in the shared memory stream instead of the shared memory command.
Adds the API b3RaycastBatchSetNumThreads to specify the number of
threads to use for the raycast batch, also adds the argument numThreads
to the pybullet function rayTestBatch.
Rays are distributed among the threads in a greedy fashion there's a shared
queue of work, once a thread finishes its task, it picks the next
available ray from the task. This works better than pre-distributing the
rays among threads, since there's a large variance in computation time per ray.

Some controversial changes:
- Added a pointer to PhysicsClient to the SharedMemoryCommand struct, this
was necessary to keep the C-API the same for b3RaycastBatchAddRay, while
adding the ray to the shared memory stream instead of the command
struct. I think this may be useful to simplify other APIs as well, that
take both a client handle and a command handle.
- Moved #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE to
SharedMemoryPublic. This was necessary for the definition of
MAX_RAY_INTERSECTION_BATCH_SIZE.
 2018-06-15 16:47:04 +02:00
erwincoumans
25c5e87dc2 PyBullet.loadURDF, expose flags=URDF_INITIALIZE_SAT_FEATURES 2018-06-13 15:35:56 -07:00
Erwin Coumans
c27fb4003e path -> const 2018-06-12 21:26:34 -07:00
erwincoumans
4f0959a136
Update b3RobotSimulatorClientAPI_NoDirect.h 2018-06-12 21:17:43 -07:00
Erwin Coumans
e24da97140 revert GJK change yet again, some degenerate case / regression 2018-06-12 19:52:38 -07:00
erwincoumans
08d84d6ce3 fix getLinkState usage 2018-06-12 17:00:16 -07:00
erwincoumans
4d6741f5cd PyBullet: expose STATE_LOGGING_ALL_COMMANDS and STATE_REPLAY_ALL_COMMANDS 
See examples/pybullet/examples/commandLogAndPlayback.py for an example.
 2018-06-12 16:56:45 -07:00
erwincoumans
459d07a302 add example for enableSAT, using separating axis test (instead of GJK) for contact between polyhedral convex hull shapes (and convex hull vs triangle in a concave triangle mesh) 2018-06-12 16:10:49 -07:00
erwincoumans
97c6937388 Simplify GJK. Still needs double precision for large differences of feature scales. 
Extract faces directly from btConvexHullComputer (in initializePolyhedralFeatures), instead of reconstructing them, thanks to Josh Klint in #1654
PyBullet: use initializePolyhedralFeatures for convex hulls and boxes (to allow SAT)
PyBullet: expose setPhysicsEngineParameter(enableSAT=0 or 1) to enable Separating Axis Test based collision detection for convex vs convex/box and convex versus concave triangles (in a triangle mesh).
 2018-06-12 16:08:46 -07:00
erwincoumans
a342af0382 remove getLinkState from API, it automatically calculated forwardKinematics and propagates velocities, which is very expensive. 2018-06-11 23:49:34 -07:00
erwincoumans
62485abafe PyBullet: disable deterministic pairs by default 
PyBullet: Only set static when sleeping is enables (todo: figure out issue with determinism)
 2018-06-11 17:32:44 -07:00
Erwin Coumans
38469deec7 getNumLinks -> getNumDofs, to make sure fixed objects don't transfer activation state 2018-06-11 11:41:33 -07:00
erwincoumans
6fb3cf7a43 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-06-11 08:34:37 -07:00
Erwin Coumans
e74f86d148 remove ANYmal meshes 2018-06-11 07:44:05 -07:00
erwincoumans
3eebcd40ca exposed a few more methods in the C++ b3RobotSimulatorClientAPI (_NoDirect base class) 2018-06-09 19:40:12 -07:00
erwincoumans
7ac3e263ab add saveStateToMemory/restoreStateFromMemory/setAdditionalSearchPath/getAPIVersion to Bullet Robotics API. 2018-06-09 13:54:22 -07:00
erwincoumans
0cec85626f enable more unit tests in PyBullet. 
return Py_None if no user data found, to pass the test.
enable m_deterministicOverlappingPairs by default.
if m_deterministicOverlappingPairs, sort the collision pairs.
 2018-06-09 12:19:29 -07:00
erwincoumans
046a86cd84 add premake4.lua build for BulletRobotics target, C++ API, similar to PyBullet. Use BulletRobotics target for App_HelloBulletRobotics (without GUI) and App_RobotSimulator 2018-06-08 19:14:03 -07:00
Erwin Coumans
6ca3fe18f5 fix previous commit 2018-06-06 16:33:52 -07:00
Erwin Coumans
1bcb54dc29 remove some warnings 2018-06-06 16:10:20 -07:00
Erwin Coumans
dd444fc6c4 reshuffle args 2018-06-05 21:09:00 -07:00
erwincoumans
cb6d76d6b5 fix another parameter name in header, in enableJointForceTorqueSensor 2018-06-05 19:59:00 -07:00
erwincoumans
dff04c7f59 fix parameter name in header, computeForwardKinematics 2018-06-05 19:57:21 -07:00
erwincoumans
72d3f45b05 use new API b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3 (not 2) 2018-06-05 19:54:08 -07:00
erwincoumans
4083088a3a people are actually using this internal API, add a new one and keep old one backward compatible 
b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3 is the new one,
b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2 old
 2018-06-05 19:44:33 -07:00
erwincoumans
5ede227e94
Update robot_bases.py 
remove print
 2018-06-05 19:33:28 -07:00
Erwin Coumans
ad35beb61f fix typo 2018-06-05 16:25:43 -07:00
erwincoumans
b6f5cb4c34 enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp) 
add pdControl.py example, make pdControlPlugin functional
reduce memory usage
fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
 2018-06-05 15:59:01 -07:00
erwincoumans
49eb83c24e Avoid static multibody to activate/wake up sleeping objects. 
Couldn't reproduce an issue related to this.
 2018-06-05 12:20:42 -07:00
erwincoumans
fa648a028e fix a few problems introduced in #1730 
https://github.com/bulletphysics/bullet3/pull/1730
 2018-06-05 09:16:00 -07:00
erwincoumans
d7cbe8dd26 Merge remote-tracking branch 'bp/master' 2018-06-05 08:15:11 -07:00
Tigran Gasparian
aefd5a9d66 Uses SHARED_MEMORY_SERVER instead of GUI_SERVER when starting a bullet server in the unit test. 2018-06-05 09:28:38 +02:00
Erwin Coumans
7bd84740d7 PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin 
Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
 2018-06-05 11:41:41 +10:00
Erwin Coumans
e4cd88e24f PyBullet: allow to choose the shared memory key when starting SHARED_MEMORY_SERVER 2018-06-05 11:36:54 +10:00
Tigran Gasparian
c49e060e81 Starts bullet server when testsuite is ran, uses pybullet_utils to manage clients. 2018-06-04 19:40:16 +02:00
Tigran Gasparian
bb72a91080 Clears the user data cache when syncUserData is called. 
Adds unit test for the UserData functons.
Changes the char pointer in btHashString to std::string. There were
problems where the object owning the string memory would deallocate the
string, making the btHashString object invalid.
 2018-06-04 15:10:48 +02:00
erwincoumans
4997eb8da2 add new file related to PyBullet userData 2018-06-02 13:52:00 -07:00
erwincoumans
b6120e760a PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo 
See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide.
Thanks to Tigran Gasparian for the contribution!
 2018-06-02 13:40:08 -07:00
erwincoumans
cb6b7a7c38 PyBullet: expose flags to createMultiBody 2018-06-02 11:37:14 -07:00
Erwin Coumans
39c9ffa4c3 PyBullet IK: backward compatible changes related to joint damping 2018-06-01 23:25:47 -07:00
erwincoumans
68ea22bfd0 undo git merge conflict mess-up with IK 2018-06-01 22:50:06 -07:00
erwincoumans
92579f9196 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2018-06-01 09:35:15 -07:00
erwincoumans
2d40a18315 picking shouldn't activate (wakeup) sleeping objects 2018-06-01 09:34:18 -07:00
Erwin Coumans
e74cd05e37 add space 2018-05-31 21:21:50 -07:00
erwincoumans
4c75e022c8 Use dofCount and not numJoints in PyBullet.calculateInverseKinematics, fixes null space demo 
See baxter_ik_demo at https://github.com/erwincoumans/pybullet_robots
 2018-05-31 21:07:04 -07:00
Erwin Coumans
70b3d4d0f4 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-31 18:16:57 -07:00
Erwin Coumans
76e88dddc5 add space to make conversion work 2018-05-31 18:16:40 -07:00
erwincoumans
309a07c21b
Merge branch 'master' into master 2018-05-31 18:05:50 -07:00
Erwin Coumans
378de87286 Merge remote-tracking branch 'bp/master' 2018-05-31 18:03:56 -07:00
Erwin Coumans
93a51e19d9 fix different arg name in header versus cpp 2018-05-31 17:58:12 -07:00
erwincoumans
75eaaecf49
Merge pull request #1722 from erwincoumans/master 
implement accurate inverse kinematics in C++, exposed through PyBullet.calculateInverseKinematics
 2018-05-31 16:50:52 -07:00
erwincoumans
3463d0a879 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-31 16:06:33 -07:00
erwincoumans
edc70582dd implement accurate inverse kinematics in C++. PyBullet.calculateInverseKinematics gets "maxNumIterations=20", "residualThreshold=1.04" to tune 
allow to provide current joint positions in IK, overriding the body joint positions, also IK target will be in local coordinates.
expose b3ComputeDofCount in C-API
 2018-05-31 16:06:15 -07:00