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Commit Graph

102 Commits

Author SHA1 Message Date
Erwin Coumans
7383843b24 expose PyBullet.SHARED_MEMORY_SERVER 
connect from 1 different PyBullet client using PyBullet.SHARED_MEMORY)
(don't use more than 1 other client to submit commands in parallel)
 2018-05-07 15:57:36 -07:00
erwincoumans
ffc808784b PyBullet: add planar reflection example, 
See examples/pybullet/examples/addPlanarReflection.py
 2018-04-11 01:03:36 -07:00
Erwin Coumans
aae19514ac make the method not pure virtual (it breaks some internal code) 2018-03-27 10:18:00 -07:00
yunfeibai
6b97e1e604 Expose API to set projective texture instead of using global. 2018-03-20 21:28:47 -07:00
yunfeibai
37696dd87e Add Bullet C API and pybullet API to set projective texture matrices. 2018-03-18 18:45:54 -07:00
erwincoumans
90b34680b0
Merge pull request #1572 from erwincoumans/master 
explicitly remove textures during resetSimulation
 2018-02-22 08:37:03 -08:00
erwincoumans
73a4334e30 explicitly remove textures during resetSimulation 
move glViewport to Win32Window
 2018-02-21 23:22:16 -08:00
yunfeibai
08548e1ef0 Add example for projective texture. 2018-02-11 13:50:45 -08:00
Erwin Coumans
e97b751781 further work on urdfEditor.py, fix some serialization issues 2018-01-08 12:25:56 -08:00
erwincoumans
29aa9cb789 Bullet bump up to version 2.88 
add preliminary support to import btMultiBody from a .bullet file (will help save/restore state)
fix some Windows char/widechar issues
 2017-11-22 18:12:02 -08:00
erwincoumans
81146a4090 pybullet: move RGB,depth, segmentation mask preview windows to the right 
remove some dead code from PhysicsServerCommandProcessor.cpp
 2017-11-18 13:21:20 -08:00
erwincoumans
ed8de36ffa pybullet: allow to replace existing text, to avoid flickering (remove/add) 
allow texture caching (disable using the disable file caching)
 2017-10-25 08:15:01 -07:00
erwincoumans
b572fe43f9 fix signal handling in ExampleBrowser on linux/mac on termination 
expose all analogue axes from OpenVR (5 controllers, each x,y -> 10 floats) in pybullet.getVREvents(allAnalogAxes=1)
 2017-10-05 12:59:58 -07:00
Erwin Coumans
88897cc744 implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added) 
See also examples\pybullet\examples\changeTexture.py
 2017-06-30 19:11:43 -07:00
Erwin Coumans
dd3d55610b fixes in pybullet.loadTexture, changeVisualShape replacing texture. 
(also works for OpenGL3 renderer now)
 2017-06-30 13:35:07 -07:00
erwincoumans
a651cb9ab4 Implement first pass of transparent graphics object for GLInstancingRenderer 
remove 'enableBlend' from API, graphics instances use alpha component instead
fix forward axis for SimpleCamera
 2017-06-24 13:41:33 -07:00
Erwin Coumans
c84416d932 add debug view for getCameraImage (RGB, depth, segmentation mask) 2017-06-13 10:53:24 -07:00
yunfeibai
bfcbb339cf Merge remote-tracking branch 'upstream/master' 2017-06-02 18:26:04 -07:00
yunfeibai
0a29c8d9af Get debug visualizer camera yaw, pitch, dist, and target. 2017-06-02 18:24:51 -07:00
yunfeibai
e6d1a8cf97 Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll. 2017-06-01 15:30:37 -07:00
Erwin Coumans
87293e835c implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support. 
pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor
Bug fixes in b3ResourcePath::findResourcePath resolution.
add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium
minor fixes to obj2sdf
 2017-06-01 12:32:44 -07:00
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
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
84d09cc18f Split CommonGfxVertex3D into two different ones, GfxVertexFormat0 and GfxVertexFormat1 
Rewrite  GLInstancingRenderer::drawTexturedTriangleMesh
 2017-05-24 13:05:16 -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
Erwin Coumans
f80838e989 expose the changeVisualShape RGBA color for TinyRenderer, OpenGL3 renderer. 2017-05-13 09:18:36 -07:00
Erwin Coumans
1e443edc55 minor change in API for CommonGUIHelperInterface 2017-05-05 07:48:05 -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
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
bdf366b045 implement pybullet.getDebugVisualizerCamera, width, height, providing viewmatrix, projection matrix 2017-04-10 11:03:41 -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
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
Erwin Coumans
59d16b2c42 expose video capture as logging command in b3RobotSimulatorClientAPI (C++) and pybullet (use STATE_LOGGING_VIDEO_MP4) 2017-03-16 09:13:33 -07:00
Erwin Coumans
bf5f78f35a decouple some dependency using a callback. 2017-02-21 19:28:49 -08:00
Erwin Coumans
37890e5a4d allow to enable/disable GUI, shadows, wireframe of OpenGL Visualizer from API 
(pybullet.configureDebugVisualizer)
 2017-02-21 17:36:54 -08:00
Erwin Coumans
63486a712c VR video recording, use command-line --mp4=videoname.mp4 
tune gripper grasp example with tefal pan, 800Newton force.
URDF importer: if using single transform 1 child shape, don't use compound shape.
if renderGUI is false, don't intercept mouse clicks
add manyspheres.py example (performance is pretty bad, will look into it)
[pybullet] expose contactBreakingThreshold
 2017-02-16 14:19:09 -08:00
yunfeibai
ce69f27f32 Modify the depth buffer value in TinyRenderer to be consistent as in OpenGL. 2017-02-08 11:34:38 -08:00
erwincoumans
fc59a40127 Merge pull request #905 from lunkhound/pr-sel-solver-type 
example browser: add controls for changing the solver type and solver flags
 2017-01-30 10:22:31 -08:00
Erwin Coumans
52761f5578 [pybullet] implement addUserDebugParameter / readUserDebugParameter 
fix inertial frame for door.urdf
allow picking of links of multi-bodies with a fixed base
 2017-01-17 15:42:32 -08:00
Erwin Coumans
8e9181f85c [MJCF import] add custom broadphase collision filter, for MJCF/MuJoCo compatibility 
[MJCF import] improve MuJoCo importer, support collision filters
fixed a few more warnings
 2017-01-16 08:23:49 -08:00
Erwin Coumans
a93704889c add a default empty implementation for a few pure virtual calls 
(in interface classes) for backward compatibility in some code base
 2017-01-12 11:40:43 -08:00
Lunkhound
ea0df70c77 example browser: fix for GUI button toggle state 2017-01-02 23:01:22 -08:00
Lunkhound
49b27f30bd example browser: slider widget improvements 2016-11-20 16:38:11 -08:00
Erwin Coumans
c521d816c6 add user debug line/text features in pybullet + shared memory API: 
addUserDebugLine,
addUserDebugText
removeUserDebugItem
removeAllUserDebugItems
 2016-11-14 07:39:34 -08:00
erwincoumans
4235c61fcf move CommonRigidBodyMTBase out of interfaces, into MultiThreadedDemo. 2016-11-07 12:08:02 -08:00
Lunkhound
1c3686ca51 MultiThreaded Demo: 
- fixing various race conditions throughout (usage of static vars, etc)
 - addition of a few lightweight mutexes (which are compiled out by default)
 - slight code rearrangement in discreteDynamicsWorld to facilitate multithreading
 - PoolAllocator::allocate() can now be called when pool is full without
     crashing (null pointer returned)
 - PoolAllocator allocate and freeMemory, are OPTIONALLY threadsafe
     (default is un-threadsafe)
 - CollisionDispatcher no longer checks if the pool allocator is full
     before calling allocate(), instead it just calls allocate() and
     checks if the return is null -- this avoids a race condition
 - SequentialImpulseConstraintSolver OPTIONALLY uses different logic in
     getOrInitSolverBody() to avoid a race condition with kinematic bodies
 - addition of 2 classes which together allow simulation islands to be run
   in parallel:
    - btSimulationIslandManagerMt
    - btDiscreteDynamicsWorldMt
 - MultiThreadedDemo example in the example browser demonstrating use of
   OpenMP, Microsoft PPL, and Intel TBB
 - use multithreading for other demos
 - benchmark demo: add parallel raycasting
 2016-10-30 12:47:27 -07:00
erwincoumans
79d9e6b15e move CommonTimeWarpBase.h to Evolution/NN3DWalkersTimeWarpBase, it is not a common interface. 2016-10-22 13:50:08 -07:00
erwincoumans
c481662938 Merge pull request #723 from benelot/3D-NN-walkers-example 
Simple Neural Network 3D Walkers example
 2016-10-21 08:47:35 -07:00
Erwin Coumans
0ca1cee6f0 add a few virtual destructors, remove physics client from server 2016-10-20 14:08:55 -07:00