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
cf16c5c51f
Reduces wait in the gRPC plugin, fix state bug.
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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
Chuyuan Fu
ee10d47b17
fix space
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fix space
2019-05-02 14:15:18 -07:00
Chuyuan Fu
3fb0a7c19b
add set starting position and orientation to softbody
2019-05-01 16:56:40 -07:00
erwincoumans
f71aea0b66
Update PhysicsServerCommandProcessor.cpp
2019-04-27 14:24:01 -07:00
erwincoumans
62e01c7a33
Update PhysicsServerCommandProcessor.cpp
2019-04-27 12:21:45 -07:00
Chuyuan Fu
5b5307cf14
load softbody API
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update warning message
format
2019-04-25 15:40:15 -07:00
erwincoumans
e97a7d77af
only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1)
2019-04-14 18:20:20 -07:00
erwincoumans
5ff52e47d9
report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error.
2019-04-11 22:19:02 -07:00
erwincoumans
76918ca26d
Merge remote-tracking branch 'bp/master'
2019-04-03 20:08:05 -07:00
erwincoumans
6951aaf26a
implement PyBullet removeState command. Fixes Issue #2163
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https://github.com/bulletphysics/bullet3/issues/2163
2019-04-03 20:06:40 -07:00
mbennice
fed1a878d7
Replaces ; with ,
2019-03-26 18:14:07 -07:00
mbennice
8a96dc67cc
Initializes simulation timestamp to 0 explicitly.
2019-03-26 14:39:01 -07:00
mbennice
8fcb8d0694
Update to bullet formatting
2019-03-17 11:52:56 -07:00
mbennice
d41e449d6f
Adds a timestamp as a physics parameter.
2019-03-14 15:32:45 -07:00
erwincoumans
4ea907aacf
expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890
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bump up PyBullet to version 2.4.8
2019-03-09 09:23:16 -08:00
erwincoumans
32e93d9f91
allow to PyBullet.changeDynamics for all links in maximal coordinate rigid bodies
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change snake.py to use useMaximalCoordinate = True by default
2019-03-08 09:20:32 -08:00
erwincoumans
9408e4f2d0
Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok!
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Visit http://www.snakerobots.com to see one of these in the wild
2019-03-07 21:13:00 -08:00
erwincoumans
0af0f193ee
reduce size of SharedMemoryStatus by moving state details into shared memory streaming block.
2019-03-06 23:27:59 -08:00
Pandhariix
4801425910
Use the correct structure in the PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand method
2019-02-28 18:24:32 +01:00
erwincoumans
8e1c1448ab
Expose motor drive torque reporting for motors in spherical joints in getJointStateMultiDof.
2019-02-27 09:54:12 -08:00
erwincoumans
33619893c7
fixed failed git merge
2019-02-18 18:34:11 -08:00
erwincoumans
bdf9b10246
more work on pybullet_envs.deep_mimic.
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allow btMultiBody to not wakeup (for some RL experiments)
move deep_mimic motion files to data/motions folder, so we can use the args files unmodified.
2019-02-18 17:57:02 -08:00
erwincoumans
dc8a40f7dc
PyBullet: fix issue with setCollisionFilterGroupMask
2019-02-17 12:02:52 -08:00
erwincoumans
e7e46154bb
Merge pull request #2106 from erwincoumans/master
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fast createMultiBody batch creation, more deep_mimic work
2019-02-12 12:10:10 -08:00
erwincoumans
85ee4c2934
allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example.
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expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals.
allow a maximum of 128k objects
fix meshScale for PyBullet.createCollisionShape for custom mesh
expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
2019-02-12 10:36:01 -08:00
Tigran Gasparian
d9e36935e6
Adds extra information about the UserData in the notifications.
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When using the USER_DATA_ADDED and USER_DATA_REMOVED notifications, some
more information is necessary than just the user data id, especially
when a user data entry has been removed.
2019-02-12 12:02:20 +01:00
erwincoumans
42369aa47d
PyBullet.changeDynamics: expose jointDamping
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PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
2019-02-04 21:06:43 -08:00
erwincoumans
014c68388e
fix createVisualShape.py ray vertical/horizontal and retina scale, fixes Issue 2085
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fix memory leak in removeBody, fixes issue 2086
2019-01-30 15:29:43 -08:00
Erwin Coumans
b257bd731b
PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture.
2019-01-29 12:03:11 -08:00
erwincoumans
52c8e14646
deal with 1-DOF and 3-DOF joints separately in resetJointState, fixes Issue 2076
2019-01-26 17:53:10 -08:00
Erwin Coumans
7b99810e4e
fix case sensitive include header name
2019-01-23 12:50:44 -08:00
erwincoumans
ae8e83988b
Add preliminary PhysX 4.0 backend for PyBullet
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Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
2019-01-22 21:08:37 -08:00
Erwin Coumans
19aafd5221
PyBullet: handle the switch from fixed base to floating base when changing mass from zero to non-zero
2019-01-03 17:35:12 -08:00
Erwin Coumans
bf9efffa4b
Increase mesh allocation for vertices/indices in PyBullet.createCollisionShape
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See createMesh.py for an example.
The data has to fit in shared memory, hence the limit on Mac is lower than Windows and Linux:
#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif
2019-01-03 16:19:28 -08:00
erwincoumans
9c4136da16
Merge branch 'master' of https://github.com/erwincoumans/bullet3
2018-12-19 20:15:40 -08:00
erwincoumans
8e8c3fb315
few fixes in inverse dynamics
2018-12-19 20:15:30 -08:00
Erwin Coumans
d4db50f668
PyBullet: fix some file leaks.
2018-12-04 19:37:25 +01:00
erwincoumans
dc642c6e65
fix previous commit related to dofcount in inverse dynamics
2018-11-27 19:38:19 -08:00
erwincoumans
192d27743a
enable pybullet.calculateInverseDynamics for floating bodies
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Using calculateInverseDynamics with zero target acceleration allows to compute the non-linear dynamics forces (coriolis/gyroscopic) and/or gravity force.
2018-11-27 08:49:56 -08:00
erwincoumans
f9f8d0fbb0
example for fileIOPlugin.py loading SDF and its assets from a single zipfile,
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also show how to disable file caching (used in the fileIOPlugin)
2018-11-17 14:11:01 -08:00
erwincoumans
7dd524075c
Implement btMultiBodySphericalJointMotor, able to track a quaternion position target.
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Expose this btMultiBodySphericalJointMotor through PyBullet.setJointMotorControlMultiDof
Expose PyBullet.getQuaternionSlerp
Improve PyBullet.setJointMotorControlMultiDof
Improve humanoidMotionCapture.py with slerp and using setJointMotorControlMultiDof
Expose btMultiBody::spatialTransform
Fix btMultiBody::setupPlanar from DeepMimic codebase
Add support for multidof joints in btMultiBody::compTreeLinkVelocities, thanks to DeepMimic codebase @xbpeng
2018-11-13 14:32:18 -08:00
erwincoumans
17219f84c6
make setJointPosMultiDof and setJointVelMultiDof argument const.
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add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
2018-11-10 14:26:31 -08:00
erwincoumans
49b098854e
PyBullet: avoid calling syncBodies for each DOF in pdControl.
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Allow PD_CONTROL in setJointMotorControlArray.
2018-11-07 09:29:19 -08:00
Erwin Coumans
882252f8c0
move global from btMultiBody into dynamicsWorld.getSolverInfo
2018-11-05 10:50:03 -08:00
Erwin Coumans
8e82de1b00
add rudimentary MuJoCo mjcf xml to ROS URDF file, based on
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pybullet_utils.urdfEditor
2018-10-31 11:02:19 -07:00
erwincoumans
c80e2816ad
PyBullet: Use fileIOPlugin in processRestoreStateCommand
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PyBullet: Report debug information in case of failure in restoreState.
2018-10-29 12:08:34 -07:00
erwincoumans
078887c4d7
PyBullet fileIOPlugin: don't add equal fileIO interface twice (based on identical fileIOType and pathPrefix)
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loadBullet goes through fileIOPlugin
2018-10-29 10:25:40 -07:00