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5,058 Commits 19 Branches 27 Tags 326 MiB
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Commit Graph

488 Commits

Author SHA1 Message Date
Erwin Coumans
e8c1602232 add vrhand for vive tracker 
tweak 'saveWorld' feature a bit (mjcf, gui fallback if shared memory server is not available)
 2017-04-21 10:28:20 -07:00
erwincoumans
5b789ed67b reduce max ray hits to 256 2017-04-19 12:06:26 -07:00
yunfeibai
a7068bb57a Modify the link index when computing Jacobian. Add a test for end effector orientation IK. Inverse dynamics Jacobian uses zero-based indexing of bodies, not starting from -1 for base. 2017-04-17 16:54:45 -07:00
erwincoumans
ee753eef6f Merge pull request #1073 from devnexen/build_fix_bsd 
build fix for BSD systems
 2017-04-17 18:19:10 +00:00
Erwin Coumans
ad2099e107 address 2 issues pointed out by PVS-Studio: 
https://github.com/bulletphysics/bullet3/issues/1074
 2017-04-17 10:01:44 -07:00
David Carlier
756568ad9c build fix for BSD systems 2017-04-16 17:53:44 +01:00
Erwin Coumans
5158c1ae98 add python dumpLog.py utility to view log files created using 'startStateLogging' 
don't enable <CTRL> for hotkeys yet
add some more profile markers
log objectId and linkIndex as signed int ('i') and not unsigned int 'I'
fix issue in startStateLogging: number of parameters was wrong
 2017-04-12 15:02:47 -07:00
Erwin Coumans
80e87d5ccb re-create debug drawer after 'resetSimulation', also avoid memory leak after doing so. 
this fixes wireframe.
Also use <CTRL>+hotkey, to avoid conflicts with user-specified keyboard functions.
 2017-04-11 16:03:07 -07:00
Erwin Coumans
bdf366b045 implement pybullet.getDebugVisualizerCamera, width, height, providing viewmatrix, projection matrix 2017-04-10 11:03:41 -07:00
Erwin Coumans
82b6bc8770 apply the deviceTypeFilter also to VR state logging. 2017-04-08 11:48:12 -07:00
erwincoumans
2e47310e76 fix enum (has to be power of 2, to allow combination of devices) 
add vrtracker.py
 2017-04-08 10:37:32 -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
82b576a390 fixed a bug that prevented kitchens/1.sdf to render properly (local scaling was double applied) 
disable some left-over clipping that was moved to another part of the code
 2017-04-06 21:13:23 -07:00
Erwin Coumans
deb95c758b TinyRenderer: implement triangle clipping against near-plane 
TinyRenderer: implement texture UV-repeat by default (instead of clamp(0,1))
 2017-04-06 14:31:34 -07:00
erwincoumans
2e13531493 Merge pull request #1061 from erwincoumans/master 
Implement rayTestBatch. At the moment, it is still testing individual…
 2017-04-06 04:56:49 +00:00
Erwin Coumans
6cbb00fd6b Implement rayTestBatch. At the moment, it is still testing individual rays on the physics server. We can enable multi-threaded version later. At least the python + shared-memory IPC overhead will be much lower. 2017-04-05 15:21:26 -07:00
erwincoumans
ac91896025 Merge pull request #1054 from erwincoumans/master 
pybullet setup.py / pip support for Windows, Linux and Mac! just run 'pip install pybullet' and wait until all compiled (like numpy, it is mainly source, except for a few wheels Mac 2.7 and Win32 3.5). Expose URDF_USE_SELF_COLLISION flag.
 2017-04-04 23:36:32 +00:00
Erwin Coumans
b095e1d917 expose pybullet.URDF_USE_SELF_COLLISION flag, experimental (likely doesn't work well for many URDF files) 2017-04-04 12:47:34 -07:00
yunfeibai
b168f53ed9 Rename body index to body unique id. 2017-04-04 10:38:25 -07:00
yunfeibai
1e91e78469 Add pybullet API for logging contacts. 2017-04-02 16:03:20 -07:00
yunfeibai
0d83667817 Add C API to log contact points. 2017-04-02 15:45:48 -07:00
yunfeibai
7c7d831767 Add contact point logger. 2017-04-02 15:09:40 -07:00
Erwin Coumans
9d05b46de2 expose width/height as ExampleBrowser options. 
suppress lack of 'site' support message in MJCF importer
suppress lack of 'plane' visual support in urdf/sdf import
getBodyName default to "" to avoid breaking cloudsim
expose bodyName when requesting body info (sdf/mjcf import)
pass optional "options" string to pybullet.connect method. this can be used for --opengl2 flag in GUI mode (or other flags)
 2017-03-30 11:01:33 -07:00
erwincoumans
dae13eee7f Merge pull request #1048 from erwincoumans/master 
expose linkIndexA/B as filter option in pybullet.getContactPoints
 2017-03-29 18:19:23 -07:00
Erwin Coumans
711431db5c first draft of VR controller state logging 2017-03-29 16:29:34 -07:00
yunfeibai
f062847038 Replace spaces with tabs. 2017-03-29 15:37:33 -07:00
yunfeibai
66a8685816 Merge remote-tracking branch 'upstream/master' 2017-03-29 15:06:15 -07:00
yunfeibai
64573c38e4 Remove getBodyName API. 2017-03-29 15:03:29 -07:00
yunfeibai
de3f91b64e Get body name from getBodyInfo. 2017-03-29 14:56:05 -07:00
erwincoumans
0750d502a8 Merge pull request #1041 from olegklimov/master 
Random improvements (MJCF, error messages, gravity)
 2017-03-29 09:12:48 -07:00
Erwin Coumans
fd2c0f58bc Merge branch 'master' of https://github.com/erwincoumans/bullet3 2017-03-27 17:25:40 -07:00
Oleg Klimov
77608154a3 MJCF: fix capsule length when given in size="", fix slider joint limits 2017-03-27 22:54:20 +03:00
Oleg Klimov
3048326add C API: fix b3SetContactFilterLink() when using b3RequestContactPoint() 2017-03-27 22:54:20 +03:00
Oleg Klimov
634f4cfdbc MJCF: support for angle units in <compile angle="...">, kill two stdout messages 2017-03-27 22:54:20 +03:00
Erwin Coumans
38ad1bfb89 revert to m_jointFriction (from m_jointFriction1) 2017-03-27 10:16:55 -07:00
Erwin Coumans
4911916937 Expose 'flags' option for loadURDF, to allow customization of the URDF loading process while maintaining backward compatibility. 
For example: URDF_USE_INERTIA_FROM_FILE flag. By default, URDF2Bullet will re-compute the inertia tensor based on mass and volume, because most URDF files have bogus Inertia values.
 2017-03-27 08:30:20 -07:00
Erwin Coumans
7503418c72 Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. 
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
 2017-03-26 13:06:46 -07:00
Erwin Coumans
21d1827c9f revert previous cmake copy->symlink (doesn't work on Windows) 
fix timing issues at small timestep, disable default linear damping for btMultiBody
 2017-03-23 17:30:59 -07:00
yunfeibai
0a552c3ba1 Merge remote-tracking branch 'upstream/master' 2017-03-23 13:55:44 -07:00
yunfeibai
d717b1db84 Add the API to get the body name and pybullet example call. 2017-03-23 13:54:44 -07:00
Erwin Coumans
0a654c2d58 expose optional targetVelocity to pybullet.resetJointState 
add C-API: b3CreatePoseCommandSetJointVelocities and b3CreatePoseCommandSetJointVelocity
 2017-03-23 10:29:16 -07:00
yunfeibai
50f0cfca9e Add body name when loading urdf. 2017-03-23 10:16:39 -07:00
erwincoumans
a30b887595 Merge pull request #1025 from olegklimov/master 
URDF loader improvement 2
 2017-03-21 17:12:22 -07:00
Oleg Klimov
80a0b51a1d MJCF: fix cylinders in MJCF, also (possibly) fixes capsules in tiny renderer 2017-03-22 00:36:28 +03:00
Erwin Coumans
0b017b0f53 fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp) 
implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable.
PhysicsServer: properly restore old activation state after releasing picked object
btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
 2017-03-20 10:58:07 -07:00
Oleg Klimov
41df15a464 MJCF: fix B3_PI, fix colors, fix capsule without 'fromto' 2017-03-19 00:19:04 +03:00
Oleg Klimov
e8da7bb6f8 URDF loader: fix MuJoCo xml load, also closes #993 2017-03-17 02:11:47 +03:00
Erwin Coumans
32b9eacb34 fix compile issue 2017-03-16 13:26:44 -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
erwincoumans
c1c89e6fad Merge pull request #1000 from olegklimov/master 
URDF loader improvement 1
 2017-03-13 19:16:45 -07:00