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6,534 Commits 19 Branches 27 Tags 326 MiB
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806 Commits

Author SHA1 Message Date
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