Usage:
Also updated pypi to latest, see https://pypi.python.org/pypi?:action=display&name=pybullet&version=0.1.7
Here are a few options for Mac OSX + Anaconda:
1) In the root of the Bullet Physics SDK source tree, run
CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" python setup.py install
2) cmake, add the flag -DBUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK=OFF
3) Globally, just use pip or pip3:
CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" pip install pybullet
Option (3) may have an out-of-date pybullet/bullet version.
Add several MSVC optimization flags to cmake.
Bump up VERSION because serialization format changed
Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo.
pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity
fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
add UDP network connection for physics client <-> server.
also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
- 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
option is disabled by default. When using cmake, use
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON
then both testrender.py and testrender_np.py will work
without numpy only testrender.py works.
The numpy.reshape is likely a no-op when using numpy array,
so we could remove testrender_np.py...
See https://github.com/bulletphysics/bullet3/pull/774
causing serialization issue in URDF/SDF loading in double-precision mode on Windows 32bit.
(it was fine on Mac/Linux 64bit)
bump serialization version to 2.85, as we change the file format
fix in name clash in makesdna.cpp -> intptr_t is already defined.
Disable a few Visual Studio warnings:
C4244: conversion from 'type1' to 'type2', possible loss of data
C4267: conversion from 'size_t' to 'type', possible loss of data
Considering the GCC/Clang counterpart '-Wconversion'
(https://gcc.gnu.org/wiki/NewWconversion) is not covered by '-Wall', it
seems to make more sense to disable these two warnings in Visual Studio,
rather than fixing these warnings with hundreds of static_cast<> in the
source code.
Improve CMake Windows support to build PyBullet (BUILD_PYBULLET)
Implement b3LoadSdfCommandInit in shared memory API
Implement pybullet SDF loading binding, in loadSDF API
TODO for SDF support is provide way to query object/link/joint information.
Use this recent cmake version (http://cmakems.codeplex.com/) or future cmake that has the Windows Phone/Store App support
Use the following defines in CMake:
-DCMAKE_SYSTEM_NAME=WindowsPhone or -DCMAKE_SYSTEM_NAME=WindowsStore
-DCMAKE_SYSTEM_VERSION=8.0 or -DCMAKE_SYSTEM_VERSION=8.1
Thanks to Microsoft OSS group for the patch!
