Rémi Verschelde
41f03e78a5
LinearMath: Fix TaskScheduler build on UWP by disabling getProcessorInformation
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Disables the feature that requires loading kernel32 dynamically.
2021-10-06 07:47:44 +02:00
Erwin Coumans
6390db4bd6
Merge remote-tracking branch 'bp/master'
2021-10-04 15:37:12 -07:00
jingyuc
1949710131
clean up momentum conservation test example and the springboard example
2021-10-04 17:36:17 -04:00
jingyuc
c4da596778
now support scaling of reduced deformable object. the order of applying impulse is changeable now
2021-10-04 11:56:29 -04:00
Erwin Coumans
931f93d266
Merge remote-tracking branch 'bp/master' into master
2021-10-03 15:19:58 -07:00
Erwin Coumans
9d211393e4
Merge branch 'master' of github.com:erwincoumans/bullet3 into master
2021-10-03 15:19:26 -07:00
Erwin Coumans
34d77242e5
tweak gear (mimic) constraint example, enable erp (to avoid positional relative drift) and position camera at the gears.
2021-10-03 15:18:40 -07:00
Ariel Kwiatkowski
496e614f77
Explicitly state the datatypes in creating action/obs spaces
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This should get rid of the annoying warnings that pop up whenever an environment is created. Numpy's default datatype is float64, gym's is float32, the env is actually float32, but the initialization doesn't make it explicit so it causes redundant warnings.
```
/path/lib/python3.9/site-packages/gym/logger.py:34: UserWarning: WARN: Box bound precision lowered by casting to float32 warnings.warn(colorize("%s: %s" % ("WARN", msg % args), "yellow"))
```
2021-09-29 23:10:18 +02:00
Rémi Verschelde
364796d1e5
btSerializer: Remove unused but set variable
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Fixes a Clang/Emscripten warning.
2021-09-29 16:32:14 +02:00
Rémi Verschelde
ba65e909bc
SoftBody: Fix local variable shadowing warning
2021-09-29 15:40:59 +02:00
Johannes Brust
5795bd676f
Add deformable contact forces info
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- add contact information for collisions between rigid and soft bodies
- collisions between different soft bodies are not supported
- uses impulse acting on tetrahedral nodes for calculation of forces
- contact points are approximated by node positions
- multiple forces acting on identical nodes are accumulated
2021-09-28 22:39:31 +02:00
jingyuc
1bee1ba4c4
support applying impulse in alternating order. change several example setups.
2021-09-28 00:55:12 -04:00
jingyuc
354c5a6e62
Merge branch 'bulletphysics:master' into master
2021-09-26 17:49:41 -04:00
jingyuc
107c5526eb
reduced motor grasp example is working
2021-09-24 13:16:33 -04:00
jingyuc
5e0a805d73
separate two tangential direction for the multibody vs reduced deformable contact
2021-09-21 17:35:35 -04:00
jingyuc
9de3d25172
testing multibody vs reduced deformable friction. save files
2021-09-21 16:22:12 -04:00
erwincoumans
ce26271923
Merge pull request #3930 from ffontaine/master
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Extras/VHACD/inc/vhacdMutex.h: fix musl build
2021-09-20 14:38:30 -07:00
erwincoumans
cc84887919
Merge pull request #3945 from craftablescience/master
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Fix: remove cmake policy 0115 errors
2021-09-20 14:37:29 -07:00
erwincoumans
289a1b3f6e
Merge pull request #3931 from notrabs/bugfix/softbody-compound-crash
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Fix crash when btSoftBody collides with btCompoundShape
2021-09-20 14:37:01 -07:00
erwincoumans
9c37ca5185
Merge pull request #3950 from bttner/fix_external_force_command
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Fix: reference frame issue of external force command processor (Physics Server)
2021-09-20 14:34:52 -07:00
erwincoumans
c57d6f0163
Merge pull request #3964 from erwincoumans/master
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pybullet bump up to 3.19
2021-09-20 13:29:39 -07:00
Erwin Coumans
143f87abcf
pybullet bump up to 3.19
2021-09-20 13:16:13 -07:00
erwincoumans
47c3f5e994
Merge pull request #3963 from erwincoumans/master
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revert linkNames in createMultiBody, we cannot pass pointers pointing… …
2021-09-20 13:07:30 -07:00
Erwin Coumans
87605ca4c8
revert linkNames in createMultiBody, we cannot pass pointers pointing to local memory (storing the string) around into shared memory or over the network.
2021-09-20 12:22:30 -07:00
Brendan L
9675e3d39b
Merge branch 'bulletphysics:master' into master
2021-09-18 21:37:53 -04:00
jingyuc
064fdc40bd
Merge branch 'bulletphysics:master' into master
2021-09-16 16:09:55 -04:00
erwincoumans
101c98cfb8
Merge pull request #3954 from aaronfranke/url
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Update Bullet URL in copyright statements
2021-09-15 14:56:18 -07:00
jingyuc
bfd3d1cd8d
normal impulse for multibody vs reduced deformable contact is working
2021-09-15 16:45:20 -04:00
jingyuc
19375d6569
grasping cube set up
2021-09-13 23:05:21 -04:00
jingyuc
593f387a06
demo setup
2021-09-13 22:48:08 -04:00
Aaron Franke
ad74cfe6c8
Update Bullet URL in copyright statements
2021-09-13 09:06:14 -05:00
jingyuc
1c8afcf54f
clean up reduced body creation
2021-09-12 23:21:20 -04:00
jingyuc
b4efd91476
add support for damping. the fixed constraint is working again with the deltaImpulse form
2021-09-12 21:53:23 -04:00
jingyuc
9d1aafc51c
better support of initial rotation.
2021-09-10 13:34:34 -04:00
jingyuc
e62c42f54c
rotate the modes when the mesh has a initial transformation. new grasping example with motor WIP
2021-09-09 18:35:07 -04:00
jingyuc
ce765a8a88
friction is now applied in a way similar to what the rigid body solver does
2021-09-08 19:00:55 -04:00
jingyuc
eef3b73cd2
fixed a sign issue in the friction of the reduced deformable vs moving rigid body contact
2021-09-07 18:38:13 -04:00
jingyuc
3a70641c65
Merge branch 'bulletphysics:master' into master
2021-09-07 15:25:11 -04:00
jingyuc
3a84b05058
Added a new friction slope example (ground is rotating). Fixed a problem in the reduced deformable's friction (now clamp the maximum tangential impulse based on the tangential velocity impulse at the current iteration, not the total tangential velocity at the beginning)
2021-09-06 17:56:32 -04:00
Brendan Lewis
b1927a4f92
Merge branch 'bulletphysics:master' into master
2021-09-05 19:31:37 -04:00
Erwin Coumans
4e881118ef
bump up pybullet/bullet version to 3.18
2021-09-03 17:06:01 -07:00
jingyuc
df07b42318
contact with moving rigid body is working. There is a sign error when calculating the deltaVelocity of the solverBody
2021-09-03 17:32:26 -04:00
jingyuc
f2e114fc81
fixed the wrong dimension used to calculate the inertia tensor in btReducedSoftBodyHelpers
2021-09-03 14:47:31 -04:00
jingyuc
e70fc6453b
add support for initial rotation
2021-09-02 21:32:16 -04:00
erwincoumans
b638300fe4
Merge pull request #3951 from erwincoumans/master
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implement resetMeshData for deformable bodies, fix tiny_renderer standalone example
2021-09-02 18:03:23 -07:00
Erwin Coumans
b6df08b553
implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms.
2021-09-02 17:27:05 -07:00
jingyuc
93e00054e3
set up reduced grasping example
2021-09-02 13:35:14 -04:00
Felix Büttner
4b6ec20b30
External force and torque frame fix
2021-09-02 17:40:18 +02:00
jingyuc
104410c63d
fixed an incorrect impulse factor in btSoftBodyInternals. The total impulse factor is now calculated in the constraint solver class.
2021-09-02 00:20:19 -04:00
erwin coumans
3577ef8108
Merge branch 'master' of github.com:erwincoumans/bullet3 into master
2021-09-01 15:00:10 -07:00
