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3234 Commits
Author SHA1 Message Date
Erwin Coumans ebef331bbf Fix applyExternalForce command for multibody links. Thanks to Avik for the report. 2020-06-19 03:37:30 -07:00
Erwin Coumans 4786ca1df2 Merge remote-tracking branch 'bp/master' 2020-06-16 16:20:17 -07:00
Erwin Coumans a7b8b54c44 implement mouse picking for deformable objects in PyBullet (the one using p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD), not position based dynamics version) 2020-06-16 11:54:50 -07:00
erwincoumans da50438c3c Merge pull request #2826 from xhan0619/grav-factor 
Deformable gravity factor
 2020-06-05 10:07:27 -07:00
Erwin Coumans a2cdadb9b4 add check to avoid crash, if link is out of bounds. 2020-06-04 00:24:51 -07:00
Erwin Coumans e82a4ecc6d Apply patch to apply force at softbody nodes, thanks to Robert Lee, see 
https://github.com/bulletphysics/bullet3/issues/2699#issuecomment-610734583
 2020-06-04 00:09:11 -07:00
Erwin Coumans c09007e005 Merge branch 'master' of github.com:erwincoumans/bullet3 2020-06-04 00:00:44 -07:00
Erwin Coumans e6a0206d47 Allow to remove soft body anchors, using pybullet.removeConstraint (untested). 
Usage example:
anchors = []
anchors.append(p.createSoftBodyAnchor(clothId  ,0,-1,-1))
anchors.append(p.createSoftBodyAnchor(clothId ,3,boxId,-1, [0.5,-0.5,0]))
for a in anchors:
  p.removeConstraint(a)
 2020-06-04 00:00:19 -07:00
Erwin Coumans d1ded7d704 use pybullet.URDF_GOOGLEY_UNDEFINED_COLORS for standard gym envs 2020-06-01 23:38:59 -07:00
erwincoumans a1522b3891 Merge pull request #2822 from ManifoldFR/patch-1 
Modify DeepMimic Gym env step() to query policy at 30Hz
 2020-06-01 17:23:25 -07:00
erwincoumans 50af23e487 Merge pull request #2832 from xhan0619/pybullet-api 
Set numNonContactInnerIterations from Pybullet
 2020-06-01 17:19:45 -07:00
erwincoumans eea724bc02 Merge pull request #2837 from erwincoumans/master 
also allow reportHitNumber for single pybullet.rayTest, better mtl/urdf color selection
 2020-06-01 17:18:24 -07:00
Erwin Coumans 84cb577622 Improve link color choice: 
1) use URDF when available, unless URDF_USE_MATERIAL_COLORS_FROM_MTL and MTL color is available.
2) if URDF color is not specified, use MTL color if available
3) otherwise use white, unless URDF_GOOGLEY_UNDEFINED_COLORS flag is set (if set, semi-randomly pick one of the 4 Google colors)
 2020-06-01 10:28:07 -07:00
Daniele Reda 409b0eaa39 fix double humanoid instantiation 2020-05-31 21:38:38 -07:00
Xuchen Han a33a9412fa add numNonContactInnerIterations to getPhysicsParameters 2020-05-29 08:28:52 -07:00
Xuchen Han e6fdaebea9 add api for setting non contact iteration for pybullet 2020-05-28 17:58:21 -07:00
Xuchen Han 8c0192d639 turn on deformable rigid face contact 2020-05-26 16:52:40 -07:00
Xuchen Han 8a189763df support configuring gravity factor from client 2020-05-26 16:51:45 -07:00
Wilson 829475c38a Set DeepMimic Gym env to query policy at 30Hz 
Addresses issue #2821
 2020-05-24 16:30:47 +02:00
Erwin Coumans a3c4b2995e also allow reportHitNumber for single pybullet.rayTest (not just rayTestBatch) 2020-05-22 15:13:56 -07:00
erwincoumans 5233b72160 Merge pull request #2800 from xhan0619/splitImpulseMulti 
Stability improvements for deformable.
 2020-05-21 09:47:33 -07:00
Xuchen Han 04efc9124d tune exampleBrowser demo parameters 2020-05-20 17:56:41 -07:00
Erwin Coumans 7d61b3514c use memcpy instead of manual copy, alignment issue? 2020-05-20 07:19:26 -07:00
Erwin Coumans 32277c7bd5 in case of substeps use the compensated delta time / numSubSteps to convert between force and impulse. 2020-05-19 11:00:53 -07:00
erwincoumans d4c7687b29 Merge pull request #2809 from erwincoumans/master 
add pybullet.unsupportedChangeScaling feature for some small experime…
 2020-05-17 19:22:40 -07:00
erwincoumans fee2eb53bf Merge pull request #2795 from RanTig/fixUrdfUserdataLink 
Fixes bug where user data from a URDF link wasn't being applied on the correct link.
 2020-05-17 14:10:48 -07:00
Erwin Coumans 3f0b8c938b fix for https://github.com/bulletphysics/bullet3/pull/2797 2020-05-17 14:09:42 -07:00
Erwin Coumans 8ba6a6932c Merge remote-tracking branch 'bp/master' 2020-05-17 14:04:39 -07:00
Erwin Coumans 754dbd5fda add pybullet.unsupportedChangeScaling feature for some small experiments, this is not general and has many limitations that are not likely are going to be resolved, 
so unless it does what you want, ignore this api, it is unsupported!
 2020-05-17 13:46:11 -07:00
Chuyuan Fu c87cda15b7 fix space 2020-05-15 14:21:06 -07:00
Chuyuan Fu bad085554c set collision margin for implicit cynlinder 2020-05-15 14:19:23 -07:00
Xuchen Han fb751361a6 tune deformable_torus.py so the tori don't sink into each other 2020-05-11 18:51:32 -07:00
Xuchen Han adf9e74dcb match API in pybullet.c 2020-05-11 18:51:26 -07:00
Xuchen Han b75dd02f68 make cloth in deformable anchor come to stop 2020-05-11 17:41:32 -07:00
Xuchen Han f07042723c bug fix in damping mode 2020-05-11 17:40:00 -07:00
Xuchen Han ce237ec7ec fix API for different damping modes for mass spring 2020-05-11 17:08:33 -07:00
Xuchen Han 644fd5f311 add API for two different damping modes for mass spring 2020-05-11 16:42:17 -07:00
Xuchen Han 15f3e144f6 Merge remote-tracking branch 'origin/master' into splitImpulseMulti 2020-05-11 15:55:32 -07:00
Xuchen Han 5f2ac5e922 parameter tuning 2020-05-11 15:54:15 -07:00
Xuchen Han 3054cc01a1 demo parameter tune 2020-05-11 12:05:35 -07:00
Tigran Gasparian faa708db49 Fixes bug where user data defined in a URDF link wasn't being applied on 
the correct link.
 2020-05-11 19:27:04 +02:00
Erwin Coumans 53b65b795f add fractionEpsilon to filter rays with similar hit fraction 
remove debug printf
 2020-05-09 02:42:47 -07:00
erwincoumans 959b3e8258 Merge pull request #2790 from erwincoumans/master 
add reportHitNumber to allow reporting a specific ray intersection hit
 2020-05-08 12:59:06 -07:00
Erwin Coumans f0cccf0faa add collisionFilterMask to rayTestBatch and rayTest 
This will allow to exclude (filter) certain bodies.
By default, static bodies have collision group 2, and dynamic (mass=1) bodies have collision group 1.
As long as mask & group != 0, a raytest will be performed.
 2020-05-08 11:57:25 -07:00
Erwin Coumans 8f380b3fd2 use white as default undefined color instead of the googley colors. 
use loadURDF(..., flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS) to get Googley colors when colors are undefined.
 2020-05-08 10:44:39 -07:00
Erwin Coumans daa0a27403 add reportHitNumber to allow reporting a specific ray intersection hit 
(by default, pybullet.rayTestBatch reports the closest hit, so you can report 2nd closest or 3rd closest hit etc)
Fix pybullet.createCollisionShape, in some cases (concave trimesh, convex mesh) two instances were created.
 2020-05-07 23:23:24 -07:00
Erwin Coumans 5fd11fe90b add crossguid 2020-05-07 23:20:55 +00:00
NiranthS 620e899e28 Update externalTorqueControlledSphere.py 2020-05-07 22:44:32 +05:30
erwincoumans f92ad9a33d Update base64.h 2020-05-06 17:58:22 -07:00
Erwin Coumans 0883aa06f3 fix OpenGL issue on Mac OSX, requiring a resize before drawing works ok. 2020-05-06 17:39:41 -07:00