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Author SHA1 Message Date
erwincoumans
e7193f8fdf
Merge pull request #4462 from gazebo-forks/nkoenig/fix_joint_wrench 
Fix joint force/torque sensor values
 2023-05-04 06:09:50 -07:00
Nate Koenig
94e5b69379 Skip zeroAccSpatFrc for the constraint passes 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
 2023-03-07 11:31:10 -08:00
erwincoumans
0e59474e1c
Merge pull request #4413 from aprilprojecteu/master 
re-enable softbody/rigidbody contact report
 2023-02-24 10:54:03 -08:00
erwincoumans
c037d9ba27
Merge pull request #4382 from ManuCorrea/fix-points 
Added fix for deleting debug points with life time.
 2023-02-24 10:32:04 -08:00
Maarten Behn
e323404ac3 ok it's working I guess 2022-12-27 20:28:50 +01:00
Maarten Behn
5c8dfe4b21 got the data tunnelt with getMeshData 2022-12-27 19:46:22 +01:00
Maarten Behn
54cdf39933 extending wrapper 2022-12-22 19:27:16 +01:00
Maarten Behn
2b4757f512 extend wrapper 2022-12-21 14:44:35 +01:00
Maarten Behn
9dd446609a Adding getTetraMeshData() 2022-12-19 15:31:21 +01:00
Johannes Brust
60512c7872 Fix bug due to missing swap 
(cherry picked from commit 61d5bdb783)
 2022-12-19 11:00:27 +01:00
Johannes Brust
fa1d1fc8ee Add deformable contact forces info 
- 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

(cherry picked from commit 5795bd676f)
 2022-12-19 10:59:29 +01:00
yo
8549f00502 Added fix for deleting debug points with life time. 2022-12-13 18:39:21 +01:00
erwincoumans
2c204c49e5
Merge pull request #4284 from vitalybuka/master 
Initialize vertexSource
 2022-09-24 20:00:36 -07:00
erwincoumans
327336d80b
Merge pull request #4314 from mahiuchun/core 
Use OpenGL 3.3 core profile in eglCreateContext().
 2022-09-24 19:59:02 -07:00
erwincoumans
dad061fc13
Merge pull request #4295 from ShoYamanishi/improvement_lemke_leaving_variable 
fix: improve the lexico-minimum finder in LemkeAlgorithm.
 2022-09-02 10:17:14 -07:00
erwincoumans
daadfacfff
Merge pull request #4309 from vitalybuka/box 
Initialize 4th component of btVector3
 2022-08-16 21:47:10 -07:00
erwincoumans
fd2fe1365a
Merge pull request #4321 from crewmatt/master 
Update btSoftBody to handle close to degenerate triangles.
 2022-08-16 21:45:01 -07:00
Matt Bennice
ee0100abbf compare to SIMD_EPSILON. 2022-08-11 14:00:12 -07:00
Matt Bennice
555c0c6cd9 Remove the duplicated code outside of else 2022-08-11 11:55:50 -07:00
Matt Bennice
82b7fa6df0 Update parameters to be const. 2022-08-11 11:46:39 -07:00
Matt Bennice
c7a67d509e Update btSoftBody to handle close to degenerate triangles. 2022-08-11 11:09:08 -07:00
Hill Ma
dfdb6e2db9 Use OpenGL 3.3 core profile in eglCreateContext(). 
- Similar attributes are already used in GLFWOpenGLWindow.cpp.
- This could avoid setting environment variables when using old Mesa where OpenGL compatibility profile is limited to 3.1.
 2022-08-07 11:46:02 -07:00
Vitaly Buka
acbeea543b
Initialize 4th component of btVector3 
It's used in btVector3::setMax
 2022-07-22 11:08:39 -07:00
Sho Yamanishi
d19a418728 fix: improve the lexico-minimum finder in LemkeAlgorithm. 
The following issues in btLemkeAlgorithm::findLexicographicMinimum() are addressed in this commit.

- The z_0 column located at A(*,2*dim), is used for lexico minimum test, which should not be used.
- If the check on the 1st column 'q' produces multiple minimums due to generacy,
  and if it contains z_0, the tie must be broken in favor of z_0 and return,
  which is not performed in the original.

- The 1st part to construct 'Rows' is unnecessary.
- The 2nd part has three nested loops with brute-force search, which is inefficient.

The improved version performs the lexico minimum test column-by-column
from the left-most column of (-B^{-1}q:B^{-1}).
If the test finds a single row, it returns it.
If the test finds multiple rows and if they contain z_0, it returns z_0.
Otherwise, it moves on to the next column.
Please see  2.2.2 "Pivot Step" of
    K. Murty, "Linear Complementarity, Linear and Nonlinear Programming" Heldermann Verlag, Berlin, 1998
for the algorithm details.

Some performance tests are done and non-negligible improvment was observed.
Please see https://github.com/ShoYamanishi/AppleNumericalComputing/tree/main/14_lcp for the test details.
 2022-06-30 19:10:24 +02:00
Vitaly Buka
6626ed1a89
Initialize vertexSource 
Default constructor of btVector3 does not initialize the object.
This fixes Memory Sanitizer reports.
 2022-06-15 15:17:51 -07:00
erwincoumans
a1d96646c8
Merge pull request #4118 from dbartolini/fix-warning 
Fix indentation
 2022-05-26 23:12:33 -04:00
erwincoumans
466b76680b
Merge pull request #4146 from petershh/patch-1 
Add explicit int cast to avoid conversion warning
 2022-05-26 23:10:40 -04:00
erwincoumans
19aa740d84
Merge pull request #4269 from erwincoumans/master 
OpenAI Gym API change: add mode argument to render method
 2022-05-20 12:35:28 -07:00
Erwin Coumans
4ca2de2fd7 Merge remote-tracking branch 'bp/master' 2022-05-20 12:32:22 -07:00
Erwin Coumans
7ba2965a22 bump up PyBullet to version 3.25 2022-05-20 12:21:34 -07:00
Erwin Coumans
56186db344 disable the early out, it has some issues. 
see https://github.com/bulletphysics/bullet3/issues/4263
 2022-05-20 12:18:37 -07:00
erwincoumans
2ad5f5a7d7
Merge pull request #4264 from akien-mga/fix-Wunused-but-set-variable 
Fix `-Wunused-but-set-variable` in debug code
 2022-05-20 12:14:30 -07:00
Erwin Coumans
b9df2190f1 OpenAI Gym API change: add mode argument to render method 2022-05-20 11:16:19 -07:00
Rémi Verschelde
cc3f3cf7ca Fix -Wunused-but-set-variable in debug code 2022-05-16 16:07:29 +02:00
erwincoumans
7dee3436e7
Merge pull request #4252 from erwincoumans/master 
manually copy data, to avoid possible memory leaks.
Thanks to Jason Peng and Gilbert Feng for the report and reproduction case.
 2022-04-25 19:39:24 -07:00
Erwin Coumans
657f347223 Merge remote-tracking branch 'bp/master' 2022-04-25 19:38:10 -07:00
erwin coumans
fdab95dbab Merge branch 'master' of github.com:erwincoumans/bullet3 2022-04-25 19:32:45 -07:00
erwin coumans
a899725cc6 clear the m_userVisualShapeHandles at resetSimulation to avoid memory build-up (not a leak at exit, since memory was del-allocated in the destructor) 2022-04-25 19:32:25 -07:00
Erwin Coumans
ae4c1f8e72 bump up pybullet to 3.24 2022-04-25 18:33:59 -07:00
erwin coumans
9185f93174 manually copy data, to avoid possible memory leaks. 2022-04-25 18:31:07 -07:00
erwincoumans
e95657f80f
Merge pull request #4251 from erwincoumans/master 
remove 'override' since Bullet uses C++2003
 2022-04-24 16:50:07 -07:00
Erwin Coumans
9eb945b1e8 Merge remote-tracking branch 'bp/master' 2022-04-24 16:48:57 -07:00
Erwin Coumans
968b4356dc bump up pybullet version to 3.23 2022-04-24 16:48:28 -07:00
Erwin Coumans
957a46d840 Merge branch 'master' of github.com:erwincoumans/bullet3 2022-04-24 16:13:14 -07:00
Erwin Coumans
a3ec165915 remove the 'override' keyword, Bullet is C++2003 2022-04-24 16:12:40 -07:00
erwincoumans
617df44898
Merge pull request #4248 from CrosRoad95/patch-1 
Allow delivered classes to access unscaled points
 2022-04-23 15:52:39 -07:00
erwincoumans
ce23bb9dce
Merge pull request #4249 from erwincoumans/master 
fix for debug lines / point rendering, introduced in PR #3996
 2022-04-23 15:52:10 -07:00
Erwin Coumans
f263c422e2 Merge branch 'master' of github.com:erwincoumans/bullet3 2022-04-23 14:00:22 -07:00
Erwin Coumans
31b9be82a1 revert lines glsl shader, and add points glsl shader for instanced rendering of point cloud. 2022-04-23 13:56:40 -07:00
erwincoumans
0edcbd693a
Merge pull request #4241 from erwincoumans/master 
remove dependency on Examples from src folder.
 2022-04-23 06:25:00 -07:00