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961 Commits

Author SHA1 Message Date
Erwin Coumans
56e7333941 bump up pybullet version 2018-08-04 09:58:15 -07:00
erwincoumans
961d8adad1
Merge pull request #1806 from erwincoumans/master 
prepare build system(s) for collisionFilterPlugin
 2018-08-03 17:43:13 -07:00
Tigran Gasparian
d93980f89f Adds a simulation stepped notification 
This notification is called when the simulation is stepped, regardless
of whether any objects have moved.
 2018-08-01 17:49:58 +02:00
Erwin Coumans
2cab56d6ef prepare build system(s) for collisionFilterPlugin 2018-07-27 15:48:24 +02:00
erwincoumans
8b27a7311c
Merge pull request #1801 from RanTig/TickPlugins 
Notify plugins on certain events (e.g. body added).
 2018-07-27 14:58:55 +02:00
Erwin Coumans
a696bd6a46 fix memory leak reported in Issue #1800 
avoid access to array elements outside of range
 2018-07-25 19:59:29 +02:00
Tigran Gasparian
35a55b2056 Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR. 2018-07-25 14:47:34 +02:00
Tigran Gasparian
f745eafb36 Changes dynamic_cast<> to c-style cast. 2018-07-24 16:04:16 +02:00
Tigran Gasparian
c59afb88c4 Notify plugins on certain events (e.g. body added). 
This also adds a periodic tick function to plugins, giving them periodically control over the simulation thread, even when the simulation is paused.
 2018-07-24 14:12:16 +02:00
erwincoumans
defd961f60
Merge pull request #1798 from erwincoumans/master 
Change constraint solver threshold-based termination condition on res…
 2018-07-22 12:28:32 +02:00
Erwin Coumans
b5495e789d Change constraint solver threshold-based termination condition on residual of velocity threshold, not on residual of impulse threshold. 
This avoids issues with systems with large mass ratios.

Test: add this to BasicDemo/BasicExample.cpp in initPhysics

	m_dynamicsWorld->getSolverInfo().m_numIterations = 1000;
	m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-4;
 2018-07-22 11:30:16 +02:00
erwincoumans
3d5c921495
Merge pull request #1782 from RanTig/userdata 
Changes UserData to use global identifiers and makes linkIndex optional.
 2018-07-09 11:36:51 +02:00
Erwin Coumans
f8cc33f3a3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-07-08 11:24:37 +02:00
Erwin Coumans
127b82ec1b expose texture unique id after loading URD file, so you can restore to the original texture after changing it to a custom texture. See also getTextureUid.py example. 2018-07-08 11:23:12 +02:00
Tigran Gasparian
49684144dc Some minor formatting fixes 2018-07-05 16:01:03 +02:00
Tigran Gasparian
8a6db042de Removes int initializer in SharedMemoryUserDataHashKey, changes '>>' into '> >' for nexted templates. 2018-07-04 14:25:48 +02:00
Tigran Gasparian
7c7e8af717 Increases the shared memory magic number. 2018-07-04 10:22:44 +02:00
Erwin Coumans
2ce1e65b53 PyBullet: tweak in TCP server for VR - ROS bridge 2018-07-03 16:30:54 -07:00
Tigran Gasparian
9c7aa3a863 Changes UserData to use global identifiers and makes linkIndex optional. 
This removes the need to specify the body id/link index when retrieving a user data entry.
Additionally, user data can now optionally be set to visual shapes as well.

The following public pybullet APIs have changed (backwards incompatible)
addUserData and getUserDataId
  Makes linkIndex parameter optional (default value is -1)
  Adds optional visualShapeIndex parameter (default value is -1)

getUserData and removeUserData
  Removes required parameters bodyUniqueId and linkIndex

getNumUserData
  Removes required bodyUniqueId parameter

getUserDataInfo
  Removes required linkIndex parameter
  Changes returned tuple from (userDataId, key) to (userDataId, key, bodyUniqueId, linkIndex, visualShapeIndex)
 2018-07-03 17:45:19 +02:00
erwincoumans
98fc4b1510 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-07-01 14:42:48 -07:00
erwincoumans
0d8564db22 PyBullet: added preliminary DART and MuJoCo backend files, MuJoCo can loadMJCF, stepSimulation and getBasePositionAndOrientation, DART is empty. 
PyBullet: add 2d biped example.,
 2018-07-01 14:42:32 -07:00
Erwin Coumans
bfc85ff1fd PyBullet: TCP connection, optimized getVREvents to allow faster Windows -> Linux Vive tracking state communication. 2018-06-27 23:43:42 -07:00
Erwin Coumans
21b089b0d7 Merge remote-tracking branch 'bp/master' 2018-06-26 08:57:44 -07:00
YunfeiBai
812c229736 Remove the pdController when maxForce = 0 2018-06-24 17:06:16 -07:00
erwincoumans
49b0ec08e1 PyBullet: allow to replace existing debug lines in addUserDebugLine through the replaceItemUniqueId argument 
See batchRayCast.py for example usage
 2018-06-22 16:47:20 -07:00
Tigran Gasparian
618e3230a4 Fix: Use function context reference instead of value 2018-06-22 20:41:02 +02:00
Tigran Gasparian
b84eb8af74 Several fixes for the parallel raycasts 
- Limits the maximum number of threads to 64, since btThreadSupportPosix
and btThreadsupportWin32 don't support more than 64 bits at this moment,
due to the use of UINT64 bitmasks. This could be fixed by using
std::bitset or some other alternative.
- Introduces a threadpool class, b3ThreadPool, which is a simple wrapper
around btThreadSupportInterface and uses this instead of the global task
scheduler for parallel raycasting. This is actually quite a bit faster
than the task scheduler (~10-15% in my tests for parallel raycasts),
since the advanced features (parallelFor) are not necessary for the
parallel raycasts.
- Puts 16*1024 of MAX_RAY_INTERSECTION_MAX_SIZE_STREAMING in
parentheses, since it otherwise causes problems with other operators
of equal precedence and introduces a smaller constant for Apple targets.
- Refactors the parallel raycasts code and adds some more profiling.
 2018-06-19 18:41:42 +02:00
erwincoumans
42c9d9aa3c lazy creation of batch scheduler, it causes issues with the physics. 2018-06-16 13:59:03 -07:00
erwincoumans
7924d51665 PyBullet: deal with backward compatibility of b3RaycastBatchAddRay: 
use b3RaycastBatchAddRays API to enable MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING num rays.
Old API (b3RaycastBatchAddRay) sticks to 256 rays, MAX_RAY_INTERSECTION_BATCH_SIZE.
 2018-06-16 12:28:21 -07:00
erwincoumans
04d03d10be Fix memory leak due to batchRayCast never deleting the btTaskScheduler. 
(and issue with TaskScheduler/btTaskScheduler.cpp, add JobQueue::exit, call it first, since it uses the m_threadSupport which was deleted before the destrucor was called.
Use a hashmap to store user timers, to avoid allocating many identical strings.
 2018-06-16 09:37:53 -07:00
erwincoumans
cb1fce7899 revert exposing getSharedMemoryStreamBuffer / adding to command structure 
use 16k rays by default
add uploadRaysToSharedMemory method
 2018-06-16 08:14:00 -07:00
erwincoumans
23f9250e04 Merge remote-tracking branch 'bp/master' 2018-06-16 06:58:10 -07:00
erwincoumans
d660042d76
Merge pull request #1763 from YunfeiBai/master 
Add the pdControlPlugin to the joint control C API, and add the PD co…
 2018-06-16 06:57:50 -07:00
erwincoumans
f517b03534 Expose pushProfileTimer / pop ProfileTimer in PhysicsClient API to benchmark Python parts of PyBullet. 
reduce 'm_cooldownTime' from 1000 microseconds to 100 microseconds (overhead in raycast is too large)
If needed, we can expose this cooldown time.
Replace malloc by btAlignedObjectArray (going through Bullet's memory allocator)
 2018-06-16 06:19:49 -07:00
erwincoumans
bb8cbcdaae Merge remote-tracking branch 'bp/master' 2018-06-16 06:06:18 -07:00
Erwin Coumans
fbbd675ed6 expose PyBullet API to wakeup/put objects to sleep, enable/disable deactivation 
fix wakeup -> reset deactivation clock
 2018-06-15 21:26:26 -07:00
YunfeiBai
1c0de3c4cb Add the pdControlPlugin to the joint control C API, and add the PD control mode (also available in pybullet). Modify the pdControl pybullet example to use the PD control mode with setJointMotorControl API. 2018-06-15 17:59:26 -07:00
Tigran Gasparian
d244cf6061 Changes the default number of rays per thread from 32 to 16, when the user lets Bullet decide. 2018-06-15 17:13:10 +02:00
Tigran Gasparian
08409cae9f Adds multithreading support for batch ray casts. 
To enable the feature, enable the BULLET2_MULTITHREADING option.

Increases the number of rays that can go in a batch request by storing
them in the shared memory stream instead of the shared memory command.
Adds the API b3RaycastBatchSetNumThreads to specify the number of
threads to use for the raycast batch, also adds the argument numThreads
to the pybullet function rayTestBatch.
Rays are distributed among the threads in a greedy fashion there's a shared
queue of work, once a thread finishes its task, it picks the next
available ray from the task. This works better than pre-distributing the
rays among threads, since there's a large variance in computation time per ray.

Some controversial changes:
- Added a pointer to PhysicsClient to the SharedMemoryCommand struct, this
was necessary to keep the C-API the same for b3RaycastBatchAddRay, while
adding the ray to the shared memory stream instead of the command
struct. I think this may be useful to simplify other APIs as well, that
take both a client handle and a command handle.
- Moved #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE to
SharedMemoryPublic. This was necessary for the definition of
MAX_RAY_INTERSECTION_BATCH_SIZE.
 2018-06-15 16:47:04 +02:00
erwincoumans
25c5e87dc2 PyBullet.loadURDF, expose flags=URDF_INITIALIZE_SAT_FEATURES 2018-06-13 15:35:56 -07:00
Erwin Coumans
c27fb4003e path -> const 2018-06-12 21:26:34 -07:00
erwincoumans
4f0959a136
Update b3RobotSimulatorClientAPI_NoDirect.h 2018-06-12 21:17:43 -07:00
erwincoumans
4d6741f5cd PyBullet: expose STATE_LOGGING_ALL_COMMANDS and STATE_REPLAY_ALL_COMMANDS 
See examples/pybullet/examples/commandLogAndPlayback.py for an example.
 2018-06-12 16:56:45 -07:00
erwincoumans
97c6937388 Simplify GJK. Still needs double precision for large differences of feature scales. 
Extract faces directly from btConvexHullComputer (in initializePolyhedralFeatures), instead of reconstructing them, thanks to Josh Klint in #1654
PyBullet: use initializePolyhedralFeatures for convex hulls and boxes (to allow SAT)
PyBullet: expose setPhysicsEngineParameter(enableSAT=0 or 1) to enable Separating Axis Test based collision detection for convex vs convex/box and convex versus concave triangles (in a triangle mesh).
 2018-06-12 16:08:46 -07:00
erwincoumans
a342af0382 remove getLinkState from API, it automatically calculated forwardKinematics and propagates velocities, which is very expensive. 2018-06-11 23:49:34 -07:00
erwincoumans
3eebcd40ca exposed a few more methods in the C++ b3RobotSimulatorClientAPI (_NoDirect base class) 2018-06-09 19:40:12 -07:00
erwincoumans
7ac3e263ab add saveStateToMemory/restoreStateFromMemory/setAdditionalSearchPath/getAPIVersion to Bullet Robotics API. 2018-06-09 13:54:22 -07:00
Erwin Coumans
6ca3fe18f5 fix previous commit 2018-06-06 16:33:52 -07:00
Erwin Coumans
1bcb54dc29 remove some warnings 2018-06-06 16:10:20 -07:00
Erwin Coumans
dd444fc6c4 reshuffle args 2018-06-05 21:09:00 -07:00
erwincoumans
cb6d76d6b5 fix another parameter name in header, in enableJointForceTorqueSensor 2018-06-05 19:59:00 -07:00
erwincoumans
dff04c7f59 fix parameter name in header, computeForwardKinematics 2018-06-05 19:57:21 -07:00
erwincoumans
4083088a3a people are actually using this internal API, add a new one and keep old one backward compatible 
b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3 is the new one,
b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2 old
 2018-06-05 19:44:33 -07:00
Erwin Coumans
ad35beb61f fix typo 2018-06-05 16:25:43 -07:00
erwincoumans
b6f5cb4c34 enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp) 
add pdControl.py example, make pdControlPlugin functional
reduce memory usage
fix examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf, fixes issue #1704
 2018-06-05 15:59:01 -07:00
erwincoumans
d7cbe8dd26 Merge remote-tracking branch 'bp/master' 2018-06-05 08:15:11 -07:00
Erwin Coumans
7bd84740d7 PyBullet / BulletRobotics: prepare for pdControlPlugin and collisionFilterPlugin 
Split examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.* and move to examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp and examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
 2018-06-05 11:41:41 +10:00
Erwin Coumans
e4cd88e24f PyBullet: allow to choose the shared memory key when starting SHARED_MEMORY_SERVER 2018-06-05 11:36:54 +10:00
Tigran Gasparian
bb72a91080 Clears the user data cache when syncUserData is called. 
Adds unit test for the UserData functons.
Changes the char pointer in btHashString to std::string. There were
problems where the object owning the string memory would deallocate the
string, making the btHashString object invalid.
 2018-06-04 15:10:48 +02:00
erwincoumans
4997eb8da2 add new file related to PyBullet userData 2018-06-02 13:52:00 -07:00
erwincoumans
b6120e760a PyBullet.addUserData / getUserData / removeUserData / getUserDataId / getNumUserData / getUserDataInfo 
See examples/pybullet/examples/userData.py how to use it. TODO: add to PyBullet Quickstart Guide.
Thanks to Tigran Gasparian for the contribution!
 2018-06-02 13:40:08 -07:00
erwincoumans
cb6b7a7c38 PyBullet: expose flags to createMultiBody 2018-06-02 11:37:14 -07:00
erwincoumans
68ea22bfd0 undo git merge conflict mess-up with IK 2018-06-01 22:50:06 -07:00
erwincoumans
92579f9196 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
 2018-06-01 09:35:15 -07:00
erwincoumans
2d40a18315 picking shouldn't activate (wakeup) sleeping objects 2018-06-01 09:34:18 -07:00
erwincoumans
3463d0a879 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-31 16:06:33 -07:00
erwincoumans
edc70582dd implement accurate inverse kinematics in C++. PyBullet.calculateInverseKinematics gets "maxNumIterations=20", "residualThreshold=1.04" to tune 
allow to provide current joint positions in IK, overriding the body joint positions, also IK target will be in local coordinates.
expose b3ComputeDofCount in C-API
 2018-05-31 16:06:15 -07:00
erwincoumans
150a0e050e Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-30 19:47:47 -07:00
Erwin Coumans
491ecf2a20 export object auto-deactivation (sleeping) to pybullet (needs some more testing/configuring) 2018-05-30 18:37:08 -07:00
Erwin Coumans
14c6dee6a3 const char* for path 2018-05-30 14:37:49 -07:00
erwincoumans
1dec33d44b move default linearslop to 0 2018-05-30 12:31:29 -07:00
Erwin Coumans
8ace9251aa pass by pointer instead of reference to satisy compiler 2018-05-23 14:22:22 +10:00
Erwin Coumans
77c332bd88 PyBullet: add option to cache graphics shapes for URDF files, handy for benchmarks with many duplicate robots 
See https://github.com/erwincoumans/pybullet_robots ANYmal.py for an example.
PyBullet: Expose p.setPhysicsEngineParameter(solverResidualThreshold=1e-2) (b3PhysicsParamSetSolverResidualThreshold), increases solver performance a lot
PyBullet: Expose p.setPhysicsEngineParameter(contactSlop) Set it to zero, to avoid issues with restitution.
PyBullet: Expose isNumpyEnabled, return True is PyBullet was compiled with NUMPY support for 'getCameraImage'.
PyBullet: Expose p.ChangeDynamics(objectUid, linkIndex, contactProcessingThreshold), to avoid issues of speculative/predictive contacts with restitution.
See also http://twvideo01.ubm-us.net/o1/vault/gdc2012/slides/Programming%20Track/Vincent_ROBERT_Track_ADifferentApproach.pdf
 2018-05-23 13:26:00 +10:00
Erwin Coumans
0b2c9ea645 PyBullet: avoid a crash in SHARED_MEMORY_SERVER 2018-05-20 12:20:06 +10:00
erwincoumans
8f4d1e722e
Merge pull request #1686 from yuchenericwu2/master 
Expose CFM parameters
 2018-05-16 16:18:45 -07:00
Yuchen Wu
f03ae5a857 Expose CFM parameters in PhysicsClient. 
Add b3PhysicsParamSetDefaultGlobalCFM() and
b3PhysicsParamSetDefaultFrictionCFM().
 2018-05-16 13:46:19 -07:00
erwincoumans
b432daed65 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-16 12:11:29 -07:00
erwincoumans
0ca2c5f925 use Bullet3Common/b3AlignedObjectArray.h instead of LinearMath version in SharedMemory/PhysicsClientSharedMemory 2018-05-16 12:10:34 -07:00
Erwin Coumans
28b86ba0a4 fix some tsan issues (thread sanitizer) 2018-05-16 08:32:21 -07:00
Erwin Coumans
d17d496f97 fix potential asan/tsan issue 2018-05-15 13:24:28 -07:00
erwincoumans
e5a9b42f9a expose PyBullet.setPhysicsEngineParameter(jointFeedbackMode) 
use p.JOINT_FEEDBACK_IN_JOINT_FRAME if you want the joint feedback expressed in joint frame (instead of link inertial frame)
use p.JOINT_FEEDBACK_IN_WORLD_SPACE if you want the joint feedback in world space coordinates, instead of local link/joint coordinates.
Example: p.setPhysicsEngineParameter(jointFeedbackMode=p.JOINT_FEEDBACK_IN_WORLD_SPACE+p.JOINT_FEEDBACK_IN_JOINT_FRAME)
 2018-05-11 19:52:06 -07:00
erwincoumans
06a23ecd6d PyBullet TinyRenderer, fix cylinder (don't add caps like a capsule), also convert colors stored in visual shapes, if needed. 2018-05-10 18:37:48 -07:00
Erwin Coumans
414b3ef9bb PyBullet urdfEditor improvements: saveUrdf mesh scale, fix incorrect index, add getCameraImage in examples/combineUrdf.py 2018-05-09 10:28:12 -07:00
Erwin Coumans
0b5785421b PyBullet: re-add API to header 2018-05-07 16:59:06 -07:00
Erwin Coumans
7bc85c7d43 PyBullet.SHARED_MEMORY_SERVER, use secondary key for server 2018-05-07 16:01:38 -07:00
Erwin Coumans
7383843b24 expose PyBullet.SHARED_MEMORY_SERVER 
connect from 1 different PyBullet client using PyBullet.SHARED_MEMORY)
(don't use more than 1 other client to submit commands in parallel)
 2018-05-07 15:57:36 -07:00
Erwin Coumans
84b20bda80 don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA is set, not for the diagonal and also not for the inertial frame shift. 2018-05-03 14:24:16 -07:00
Erwin Coumans
4a8ad1a54e fix posix memory release issues 
fix compile problems on Mac OSX
reduce shared memory size on Mac (>512*1024 fails to allocate)
 2018-05-02 15:39:16 -07:00
erwincoumans
1f6afcda30 Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-02 14:32:59 -07:00
erwincoumans
3a5f778b70 expose lsMemory destroy function to release thread memory 2018-05-02 14:32:43 -07:00
erwincoumans
cee3ecde2b
Merge pull request #1664 from erwincoumans/master 
PyBullet: fix some memory leaks
 2018-05-02 13:54:07 -07:00
erwincoumans
d7e81590b5 fix a memory leak 2018-05-02 12:24:31 -07:00
Jan Matas
b1f85268f0 Check for null 2018-04-30 19:01:53 +01:00
Jan Matas
21418934e0 Reset sparsesdf to free memory. 2018-04-25 16:17:28 +01:00
erwincoumans
391b0e4061
Merge pull request #1588 from GaborPuhr/Fix-#1582 
Fix for #1582
 2018-04-12 13:32:51 -07:00
erwincoumans
25cb37a0d7 Merge remote-tracking branch 'bp/master' 2018-04-12 12:48:37 -07:00
Erwin Coumans
11008d8110 fixes, backwards compatibility 2018-04-12 09:28:30 -07:00
erwincoumans
b0d421fa11
Merge pull request #1632 from erwincoumans/master 
upgrade from tinyxml to tinyxml2
 2018-04-12 07:30:05 -07:00
erwincoumans
9c77e07494 upgrade from tinyxml to tinyxml2 2018-04-12 00:09:44 -07:00
erwincoumans
b53facfc25
Merge pull request #1629 from erwincoumans/master 
Preparation to add signed distance field collision detection.
 2018-04-12 00:02:25 -07:00
erwincoumans
ffc808784b PyBullet: add planar reflection example, 
See examples/pybullet/examples/addPlanarReflection.py
 2018-04-11 01:03:36 -07:00
Erwin Coumans
0832d3fd22 disable velocity clamp (maxVelocity) in velocity control mode, 
remove some warnings
 2018-04-10 17:21:14 -07:00
erwincoumans
db4960b1ac
Merge pull request #1624 from ikalevatykh/master 
Add VR/OpenVR support on Linux
 2018-04-05 09:55:03 -07:00
Erwin Coumans
380e59be6a explicit cast from double to float in TinyRendererVisualShapeConverter plugin 2018-04-04 16:34:28 -07:00
Igor Kalevatykh
7c163f2163 Add VR/OpenVR support on Linux 2018-04-05 00:14:08 +02:00
erwincoumans
ec68290497 PyBullet createVisualShape/createVisualShapeArray: postpone visual shape conversion until we know the link inertial transform 2018-03-28 19:08:18 -07:00
yunfeibai
6b97e1e604 Expose API to set projective texture instead of using global. 2018-03-20 21:28:47 -07:00
yunfeibai
37696dd87e Add Bullet C API and pybullet API to set projective texture matrices. 2018-03-18 18:45:54 -07:00
yunfeibai
fd7aa8d0e1 Expose using projective texture as a flag in pybullet getCameraImage API. 2018-03-18 17:01:23 -07:00
jietan
f4ca3f5963 Fix a bug that createVisualShape(Array) does not have the correct color. Add urdfEditor.py to pybullet_utils. Remove all unnecessary changes of white spaces. 2018-03-14 21:14:44 -07:00
jietan
d91a58e050 Merge remote-tracking branch 'bp/master' into pullRequest 2018-03-14 20:19:31 -07:00
jietan
413be3547b fix a bug that createVisualShape(Array) does not have the correct color. Add urdfEditor.py to pybullet_utils. 2018-03-12 21:06:19 -07:00
erwincoumans
b62501d04d fix loadTexture for tinyrenderer 2018-03-12 19:40:13 -07:00
Erwin Coumans
69d343386d PyBullet/C-API: implement createVisualShapeArray, with multiple visual shapes (require 1 texture max, since visual shapes are merged) 2018-03-09 18:02:06 -08:00
Erwin Coumans
159fef5818 PyBullet: explicit sync transform right before hardware OpenGL getCameraImage 2018-03-09 09:56:03 -08:00
Erwin Coumans
b578361acf Use kF_UseGjkConvexCastRaytest by default for raycast in PyBullet (it is more robust/accurate, but a bit slower) 
Use 10*EPSILON, as suggested in Gino's paper:
http://www.continuousphysics.com/ftp/pub/test/files/physics/papers/jgt04raycast.pdf
 2018-03-07 14:51:51 -08:00
Erwin Coumans
e134dcdb0b increase shared memory block size ( to reduce image copy steps) 
reduce vertices in r2d2 finger stl files
bump up pybullet vesion
 2018-03-07 09:47:28 -08:00
a
2348c6ba0a Fix for #1582 2018-03-05 23:05:22 +01:00
erwincoumans
73a4334e30 explicitly remove textures during resetSimulation 
move glViewport to Win32Window
 2018-02-21 23:22:16 -08:00
Erwin Coumans
c2b59776ed CMakeLists glew to glad 2018-02-20 21:09:31 -08:00
Erwin Coumans
b0984de046 preparation to replace glew by glad 2018-02-20 19:44:02 -08:00
erwincoumans
01f58f8f02 PyBullet: soft bodies are rendered, so we don't need to also render wireframes in regular mode. 
Use glBufferSubData instead of glMapBuffer/glUnmapBuffer, much faster soft body vertex sync.
Don't use a separate btSoftBodyWorldInfo, use the existing one in btSoftMultiBodyDynamicsWorld.
 2018-02-18 11:09:42 -08:00
erwincoumans
a6849de99c
Merge pull request #1555 from JanMatas/softBody-opengl-rendering 
Implemented support for softbodies in OpenGL renderer
 2018-02-18 10:48:46 -08:00
erwincoumans
ddf304ca78 PyBullet: expose internal edge utility, to adjust edge normals to prevent object penetrating along triangle edges of concave triangle meshes 
(due to local convex-triangle collisions causing opposite contact normals, use the pre-computed edge normal)
PyBullet: expose experimental continuous collision detection for maximal coordinate rigid bodies, to prevent tunneling.
 2018-02-16 19:44:33 -08:00
erwincoumans
d3fe21ef17 Add option GUI_MAIN_THREAD for running OpenGL in the main thread (Python thread). This already happens on Mac OSX by default. 
Pass all argc/argc from options to InProcessPhysicsClientSharedMemoryMainThread
 2018-02-14 16:49:44 -08:00
Jan Matas
817fb40fb5 Revert "Create a new pointer in btCollisionShape instead of just using userPtr." 
This reverts commit d2d987a5ed.

After discussion, we decided to use userPtr.
 2018-02-12 11:26:39 +00:00
Erwin Coumans
c0781fa9f1 fix cmake build 2018-02-09 19:06:00 -08:00
Erwin Coumans
508550c5e9 fix premake build for linux, thanks to @consultit 
See also issue #1538
 2018-02-09 18:46:26 -08:00
Jan Matas
d2d987a5ed Create a new pointer in btCollisionShape instead of just using userPtr. 2018-02-08 13:49:36 +00:00
Jan Matas
82214eb99f Implemented support for softbodies in OpenGL renderer 2018-02-08 13:31:40 +00:00
erwincoumans
3fb26e4835 fix issue with plugin manager (store plugin uid instead of pointer) 2018-02-06 08:56:24 -08:00
erwincoumans
df0305462d refactor b3RobotSimulatorClientAPI into a main part without GUI dependencies (no OpenGL, gwen, glew etc) 
so that App_RobotSimulator_NoGUI can link against BulletRobotics and App_RobotSimulator links against BulletRobotics and some extra files.
 2018-02-02 18:33:29 -08:00
Erwin Coumans
5776f61a73 fix issue that prevents p/invoke c# generation from PhysicsClientC_API.h 2018-01-29 19:16:01 -08:00
Erwin Coumans
bddbb3f9dd TinyRenderer color pick: fix out-of-bounds issue 2018-01-25 16:02:47 -08:00
erwincoumans
a92423b6f7 minor clarification in UrdfRenderingInterface 2018-01-21 11:15:35 -08:00
erwincoumans
3073d60845
Update tinyRendererPlugin.cpp 2018-01-17 12:53:00 -08:00
erwincoumans
585f858842 PyBullet: bump up API version due to move of tinyrenderer into a plugin 2018-01-17 12:51:19 -08:00
erwincoumans
329a1f5a74 PyBullet: move TinyRenderer into a plugin, default statically loaded. You can also dynamically load a render plugin, as shown in renderPlugin.py example. premake has a way to compile the tinyRendererPlugin. 2018-01-17 12:48:48 -08:00
erwincoumans
df89ce6f92 small refactor of LinkVisualShapesConverter / TinyRendererVisualShapeConverter, it allows to use it in a Python module and in a PyBullet plugin. 2018-01-16 17:58:19 -08:00
erwincoumans
32d615565d Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-01-16 13:39:54 -08:00
erwincoumans
68c2253f82 reduce dependency: PhysicsServerCommandProcessor -> PhysicsCommandProcessorInterface 2018-01-16 13:39:37 -08:00
Erwin Coumans
af43e6465d fix wrong enum type 2018-01-15 15:13:11 -08:00
erwincoumans
9ffb05eb3b fix double->float issue by cast, fixes issue #1510 
fix possible out-of-bounds access in btMultiBody
 2018-01-15 11:59:00 -08:00
erwincoumans
9d405fde67 PyBullet: free cached textures 
PyBullet: bool PhysicsServerCommandProcessor::pickBody, disable collision filtering to allow picking of all objects
 2018-01-15 08:36:08 -08:00
erwincoumans
3c770e56fb PyBullet/C-API: only free handle if we found it 2018-01-14 12:35:40 -08:00
erwincoumans
0919ce0f30 PyBullet: fix issue when picking an object while it is remove using PyBullet.removeBody 2018-01-14 11:01:57 -08:00
Erwin Coumans
79051b7611 allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE 
fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
 2018-01-11 21:04:08 -08:00
erwincoumans
22b4809891 leave m_useGlobalVelocities to false, until enabled, for backward compatibility 
use URDF_GLOBAL_VELOCITIES_MB flag in PyBullet loadURDF.
fix robot_bases.py due to new fields in getJointInfo.
backward compabitibility: BulletMJCFImporter, keep creating btMultiSphereShape for MJCF capsules with fromto, instead of shifted btCapsuleShapeZ, unless if CUF_USE_IMPLICIT_CYLINDER is used.
 2018-01-10 11:16:50 -08:00
erwincoumans
c4b1b84687 Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis 
https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section)
Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
 2018-01-09 22:47:56 -08:00
erwincoumans
15a429f1bf premake build system fixes 2018-01-09 12:23:25 -08:00