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423 Commits
Author SHA1 Message Date
Erwin Coumans c06859723b Embed graphics server (shared memory) in PyBullet. Use pybullet.connect(pybullet.GRAPHICS_SERVER) to enable it. 
TODO: enable for Mac OSX on mainloop, add tcp bridges from and to shared memory.
 2020-03-19 14:18:35 -07:00
Erwin Coumans 7991012f9d pybullet: fixes in polyhedral feature generation 2020-03-16 23:32:26 -07:00
Marcel Smit 04f03d78af NoGL: Update ExampleBrowserInterface and EmptyBrowser, with interface methods added to the OpenGL example browser, but didn't get added to the interface and empty interface. Required to compile the in-process example browser without OpenGL dependency. 2020-02-14 11:23:28 +01:00
Erwin Coumans 83bdef8254 add --mp4fps=30 command line parameter for ExampleBrowser (and using pybullet.connect(p.GUI, options="--mp4fps=30 --mp4=\"testvideo.mp4\"") 2020-01-11 12:19:42 -08:00
Xuchen Han 4ab0387262 Merge remote-tracking branch 'origin/master' 
merge origin/master
 2019-12-18 23:18:16 -08:00
Xuchen Han d38ea87027 add gripper with deformable cloth demo 2019-12-13 14:33:54 -08:00
Erwin Coumans 202cf18995 allow to compile using clang-cl on visual studio (disable SSE) 2019-12-11 13:07:53 -08:00
Erwin Coumans 7f3059c7a9 increase max number of parameters (to around 300) in debug GUI 2019-12-04 15:49:06 -08:00
Erwin Coumans cabef63b1c expose the double sided flag 2019-11-12 20:36:20 -08:00
Erwin Coumans 9ca957387f Deformables: enable double sided rendering, reduced the number of debug lines in regular rendering. 2019-11-12 20:08:49 -08:00
Xuchen Han 13314360a8 add option for deformable rigid split impulse 2019-11-05 18:07:58 -08:00
Xuchen Han 36f7441790 support anchor constraint between deformable and multibody 2019-10-17 16:45:28 -07:00
Xuchen Han 60dfe1fe69 add support for anchor constraint between deformable and rigid 2019-10-16 19:23:01 -07:00
Xuchen Han 416e516735 add naive implementation of self collision 2019-09-28 14:44:41 -07:00
Xuchen Han 0501fe1bbd add cloth demo to show deformable friction 2019-09-28 14:44:41 -07:00
Xuchen Han 55ebafc755 add demo to test soft body friction 2019-09-28 14:44:41 -07:00
Xuchen Han a92a8f1135 add demo for deformable contact 2019-09-28 14:44:41 -07:00
Erwin Coumans b86bf6c571 remove BlockSolver/* 2019-09-11 10:20:37 -07:00
Erwin Coumans 25c61a40b5 remove BlockSolver/* 2019-09-11 10:19:43 -07:00
Xuchen Han b507fe77ca check in a good set of parameters for grasping deformable ball 2019-08-16 13:45:29 -07:00
Xuchen Han 27492887bf move files and update license 2019-08-16 13:45:08 -07:00
Xuchen Han deb7c152c4 add corotated model to lagrangian forces 2019-08-16 13:45:05 -07:00
Xuchen Han 10e819db8e add grasping with joint motor example 2019-08-16 13:45:05 -07:00
Erwin Coumans f09cefabe8 Merge remote-tracking branch 'bp/master' 2019-08-14 21:14:56 -07:00
erwincoumans 7fa70c3857 Merge pull request #2351 from xhan0619/Deformable 
Add deformable body world and solver
 2019-08-14 21:13:41 -07:00
Erwin Coumans 88d1788ee5 PyBullet: allow to update an existing heightfield shape 
Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default)
See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
 2019-08-14 21:06:10 -07:00
Erwin Coumans f9b232b153 pybullet: allow programmatic creation of heightfield. See https://github.com/erwincoumans/bullet3/tree/master/examples/pybullet/examples/heightfield.py 
premake4: allow to build example browser without C++11, re-enable stable PD control plugin using --enable_stable_pd=True
 2019-08-11 13:59:24 -07:00
Xuchen Han 9a7e30d09f move deformable examples to a single folder and rename them; change license to google 2016 2019-08-08 15:00:55 -07:00
Xuchen Han 753b2d9f15 add new demos to CMakeList 2019-08-02 15:02:15 -07:00
Xuchen Han 8cc7cb59d7 clean up examples 2019-08-02 14:06:42 -07:00
Xuchen Han 233a381e7c add correct impulse matrix to multibody-deformable contact 2019-08-02 13:15:00 -07:00
Xuchen Han dc10336d45 code clean up + check in examples 2019-08-02 13:12:59 -07:00
Xuchen Han 32836b0694 set up deformable world and solver (does not support contact or friction yet) 2019-08-02 13:10:17 -07:00
Erwin Coumans 10153b3b3a add texture support for cube, when using createCollisionShape(GEOM_BOX) 2019-07-31 14:49:49 -07:00
Erwin Coumans 51fba6f78d export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU) 
fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
 2019-07-29 20:23:38 -07:00
Erwin Coumans ebde9926a8 add example loading heightfield from image and csv, using assets from DeepLoco (thanks to Jason Peng) and 
from this Blender tutorial https://www.beamng.com/threads/tutorial-adding-heightmap-roads-using-blender.16356/
 2019-07-23 11:26:31 -07:00
Erwin Coumans 16542aa740 tweak Mini Cheetah URDF/MTL 
use /tmp/timings on Linux/Mac as default location to save profile timings (when you press 'p' in example browser)
fix in Graphics Server Example when rendering is disabled
 2019-06-19 12:07:26 -07:00
Erwin Coumans e286fbd9f2 fixes for RemoteGUIHelper 2019-06-15 10:30:48 -07:00
Erwin Coumans ee3680765e fixes for RemoteGUIHelper 2019-06-14 14:34:56 -07:00
Erwin Coumans 6160b52fd7 graphicsServer to workaround OpenGL issues on some servers. 2019-06-13 23:24:22 -07:00
Chuyuan Fu 3fb0a7c19b add set starting position and orientation to softbody 2019-05-01 16:56:40 -07:00
erwincoumans f28fd91e4f add raycast accelerator for btHeightfieldTerrainShape, thanks to Marc Zylann, see https://github.com/bulletphysics/bullet3/pull/2062 
it can be disabled by setting the flag cb.m_flags |= btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator;
acceleration is disabled for z axis up.
add btHeightfieldTerrainShape example to example browser
 2019-04-15 21:55:29 -07:00
erwincoumans 4d3f2e5b17 Merge branch 'master' into SIblock 2019-03-27 16:18:36 -07:00
Erwin Coumans 4898887265 temporary disable experimental BulletRobotics examples 2019-03-26 15:07:55 -07:00
Chuyuan Fu 7aba1f9e8a Use two SI solvers as blocks in block solver. 
In the btBlockSolver we are experimenting with, we have SI for both multibody and rigid body. I'm currently replacing rigid body SI solver with two smaller SI solvers. The two examples provided by RigidBodyBoxes.h should have the same behavior.
 2019-03-25 14:41:58 -07:00
erwincoumans 28148eb1ed Merge remote-tracking branch 'bp/master' 2019-03-18 10:12:55 -07:00
Erwin Coumans a0aa963e28 fix premake and cmake for ExampleBrowser 2019-03-15 04:04:51 +00:00
Erwin Coumans 150a6a0880 Qualify calls to certain functions from the cmath library. 2019-03-14 16:57:50 -07:00
Chuyuan Fu 1660957f75 Untrack Grasp box example for now. This example needs more adjustment. 
fix compile
 2019-03-07 17:10:16 -08:00
Chuyuan Fu e818452494 Add grasp box example and fixjoint boxes example. 
tmp

gripper is working?

fix joint example
 2019-03-07 17:10:16 -08:00