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f03ae5a857
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Author SHA1 Message Date
Yuchen Wu
f03ae5a857 Expose CFM parameters in PhysicsClient. 
Add b3PhysicsParamSetDefaultGlobalCFM() and
b3PhysicsParamSetDefaultFrictionCFM().
 2018-05-16 13:46:19 -07:00
Yuchen Wu
653f592ddc
Merge pull request #1 from bulletphysics/master 
Merge from upstream
 2018-05-16 13:44:15 -07:00
erwincoumans
f99260413d
Merge pull request #1684 from erwincoumans/master 
BulletInverseDynamics: Fix propagation of user_int and user_ptr when …
 2018-05-16 09:08:30 -07:00
erwincoumans
382a08e373
Merge pull request #1682 from lunkhound/pr-solver-col-body-fix 
constraint solvers: fix crash for collision-bodies with incorrect flags
 2018-05-16 08:41:57 -07:00
Erwin Coumans
28b86ba0a4 fix some tsan issues (thread sanitizer) 2018-05-16 08:32:21 -07:00
Erwin Coumans
75bff86dba Merge remote-tracking branch 'bp/master' 2018-05-16 08:31:20 -07:00
Erwin Coumans
d17d496f97 fix potential asan/tsan issue 2018-05-15 13:24:28 -07:00
Erwin Coumans
703767c6f3 BulletInverseDynamics: Fix propagation of user_int and user_ptr when creating MultiBodyTree. 
The user_ptr and user_int arguments passed to addBody were stored in the cache, but not propagated to the MultiBodyTree when finalizing it.

Thanks to Thomas Buschmann for the fix.
 2018-05-14 07:34:49 -07:00
Lunkhound
4254837170 solvers: remove erroneous 'break' statement that can occur with incorrectly flagged objects; also added asserts to warn when incorrectly flagged objects are detected 2018-05-12 19:54:39 -07:00
erwincoumans
5ed461f512
Merge pull request #1683 from erwincoumans/master 
fix PyBullet.applyExternalTorque for links, expose jointFeedbackMode, improve  PyBullet combineUrdf.py performance
 2018-05-11 20:40:46 -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
1ec24a0853 fix PyBullet.applyExternalTorque for links (instead of base) 2018-05-11 19:35:27 -07:00
Lunkhound
8d5cd1c324 constraint solvers: fix crash for collision-bodies with incorrect flags 2018-05-11 17:47:08 -07:00
Erwin Coumans
e86d11f7b9 PyBullet combineUrdf, make createMultiBody much faster, by temporarily disabling rendering 2018-05-10 20:52:51 -07:00
erwincoumans
282154f377
Merge pull request #1680 from erwincoumans/master 
PyBullet TinyRenderer, fix cylinder, colors for programmatic created models (PyBullet.createMultiBody), UrdfEditor: fix indentation
 2018-05-10 19:08:37 -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
erwincoumans
e488603603 UrdfEditor: fix indentation, causing an issue when a link had no collision shape but visual shapes 2018-05-10 18:05:50 -07:00
erwincoumans
50cca1013b
Merge pull request #1679 from erwincoumans/master 
fix MSVC 2010 compile issue, fix urdfEditor: scale  issues
 2018-05-10 16:27:21 -07:00
erwincoumans
80bab22b9c urdfEditor: add euler -> quaternion conversions (otherwise orientations get silently ignored) 
urdfEditor: move combine code into UrdfEditor.joinUrdf
urdfEditor: Fix geom_length
 2018-05-10 15:08:00 -07:00
erwincoumans
3116cd82da fix MSVC 2010 compile issue 
urdfEditor: fix scale incorrectly saved in urdfEditor.saveUrdf
urdfEditor: fix linkMeshScaleArray in wrong location
 2018-05-10 12:04:13 -07:00
erwincoumans
928acbfe62
Merge pull request #1678 from erwincoumans/master 
PyBullet urdfEditor improvements
 2018-05-09 11:12:21 -07:00
Erwin Coumans
a0e72b2ae3 Merge branch 'master' of https://github.com/erwincoumans/bullet3 
# Conflicts:
#	examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py
 2018-05-09 10:29:20 -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
be7c6ac967 PyBullet add getCameraImage to debug urdfEditor/createMultiBody 2018-05-08 23:23:53 -07:00
Erwin Coumans
1e51e2b859 tweaks in urdfEditor.py and combineUrdf.py, put KUKA on top of Husky as test. 2018-05-08 23:14:39 -07:00
Erwin Coumans
2d1689cba5 add example to joint two URDF files, using the urdfEditor (combineUrdf.py) 2018-05-08 17:18:58 -07:00
Erwin Coumans
d436be1d79 add __init__.py for pybullet_utils examples 2018-05-08 13:31:30 -07:00
Erwin Coumans
ad43de285c add bullet_client.py to pybullet_utils, with simple example 2018-05-08 10:12:19 -07:00
erwincoumans
57b67faddb
Merge pull request #1676 from erwincoumans/master 
remove "DO NOT SUBMIT" comments, it blocks commits in google3
 2018-05-07 17:49:29 -07:00
Erwin Coumans
3a4d1799d8 remove "DO NOT SUBMIT" comments, it blocks commits in google3 2018-05-07 17:35:55 -07:00
erwincoumans
84edb746e7
Merge pull request #1674 from lunkhound/pr-fix-bad-assert 
parallel solver: remove bad assert
 2018-05-07 17:31:47 -07:00
erwincoumans
c76f888366
Merge pull request #1675 from erwincoumans/master 
expose PyBullet.SHARED_MEMORY_SERVER
 2018-05-07 17:31:13 -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
Lunkhound
ded33f3e7e parallel solver: remove bad assert 2018-05-06 23:39:01 -07:00
erwincoumans
ab4b663800
Merge pull request #1671 from erwincoumans/master 
don't use the URDF inertia element, unless flag CUF_USE_URDF_INERTIA …
 2018-05-03 14:52:09 -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
erwincoumans
8fc7316c1d
Merge pull request #1670 from YunfeiBai/master 
Fixed a bug in projective texture shader.
 2018-05-03 11:25:08 -07:00
YunfeiBai
e5036fbc3a Merge remote-tracking branch 'upstream/master' 2018-05-03 10:48:55 -07:00
YunfeiBai
aa6b8f66e9 Fixed a bug in projective texture shader. 2018-05-03 10:46:59 -07:00
erwincoumans
d70a9ae3a3
Merge pull request #1669 from erwincoumans/master 
fix some incompatibilities between google3/third_party/GL,EGL, glad
 2018-05-03 10:02:30 -07:00
Erwin Coumans
810c9d423c Merge branch 'master' of https://github.com/erwincoumans/bullet3 2018-05-03 09:07:14 -07:00
Erwin Coumans
0c706eb08a fix some incompatibilities between google3/third_party/GL,EGL, glad 2018-05-03 09:06:30 -07:00
erwincoumans
bdd7d3c2c0
Merge pull request #1662 from sponji/master 
Fixed a collision check bug with CCD
 2018-05-03 06:40:22 -07:00
erwincoumans
475d56e1ac
Merge pull request #1668 from erwincoumans/master 
Revert back to using the Jacobi method to diagonalize a symmetric mat…
 2018-05-03 06:39:48 -07:00
erwincoumans
0e2d0fda1a Revert back to using the Jacobi method to diagonalize a symmetric matrix. 2018-05-03 06:03:52 -07:00
erwincoumans
6b9cc34064
Merge pull request #1666 from erwincoumans/master 
posix shared memory lsMemory release function
 2018-05-02 17:05:35 -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