returns a pylist of contact points. Each point has the following data:
0 int m_contactFlags;//unused for now
1 int m_bodyUniqueIdA;
2 int m_bodyUniqueIdB;
3 int m_linkIndexA;
4 int m_linkIndexB;
5-6-7 double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
8-9-10 double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
11-12-13 double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
14 double m_contactDistance;//negative number is penetration, positive is distance.
15 double m_normalForce;
Shared memory api/pybullet: by default, set joint motors in position PD mode with target 0, to maintain 0 joint angle.
pybullet: allow setJointControlMode(body, link, POSITION_CONTROL,targetPos etc.
increase from 64 to 128 joints in shared memory API/pybullet
fix potential issue in tinyrenderer, related to missing segmentation mask buffer
report error if CMD_REQUEST_ACTUAL_STATE command on a multibody that exceed the number of links,
todo: stream data to allow arbitrary large number of links in shared memory API
Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and
b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage.
Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option
Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc])
Thanks to Jeff Bingham for the suggestion.
Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.
add test for VR HUD/sub-titles
fix issue in previous commit, partial string use %.8s not %8.s
use long long int in b3Clock
fix warning/error in pointer alignment in serialization
Fix pybullet Windows compilation.
(thanks to bkeys/https://github.com/bulletphysics/bullet3/pull/687)
allow to reset the state of a single joint
allow to set the target/mode for a single joint motor at a time
rename pybullet API: initializeJointPositions -> resetJointState
in a nutshell, add the following two files:
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
examples/ThirdPartyLibs/stb_image/stb_image.cpp
