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2823 Commits
Author SHA1 Message Date
erwincoumans 22ef34bb69 Revert "Add deformable contact forces info" 2022-02-18 16:14:53 -08:00
Erwin Coumans 6906198132 Implement joint limit for btMultiBody spherical joint. In URDF, add 
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created

See examples/pybullet/examples/spherical_joint_limit.py and
    examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
 2022-01-30 13:04:24 -08:00
Erwin Coumans b602045665 Implement joint limit for btMultiBody spherical joint. In URDF, add 
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created

See examples/pybullet/examples/spherical_joint_limit.py and
    examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
 2022-01-30 13:00:11 -08:00
Erwin Coumans 5d1c8a2ece move the mutex lock to include the 'getNewManifold', dealing with Issue #4117 2022-01-02 21:05:07 -08:00
erwincoumans 6a59241074 Merge pull request #4060 from erwincoumans/master 
bump up PyBullet to version 3.21
 2021-12-01 10:29:58 -08:00
Erwin Coumans 9c380f18f6 bump up PyBullet to version 3.21 2021-12-01 10:28:20 -08:00
erwincoumans 946d500c8e Merge pull request #3848 from nekomatata/heightmap-early-exit 
Fix early exit in heightfield raycast
 2021-11-18 19:45:26 -08:00
erwincoumans ccafe333d1 Merge pull request #3979 from johbrust/deformableForces 
Add deformable contact forces info
 2021-11-13 22:32:43 -08:00
QiaodongCui a672536f43 Update btCollisionDispatcherMt.cpp 2021-10-29 13:26:02 -04:00
QiaodongCui e9d40d0726 Update btCollisionDispatcherMt.h 2021-10-29 13:25:03 -04:00
erwincoumans e4a450a53d Merge pull request #3980 from akien-mga/patch-1 
SoftBody: Fix local variable shadowing warning
 2021-10-25 09:10:29 -07:00
erwincoumans d4598bf1cf Merge pull request #3981 from akien-mga/patch-2 
btSerializer: Remove unused but set variable
 2021-10-25 09:08:53 -07:00
erwincoumans f79463b699 Merge pull request #3991 from akien-mga/uwp-disable-processor-information 
LinearMath: Fix TaskScheduler build on UWP by disabling `getProcessorInformation`
 2021-10-25 09:08:18 -07:00
Erwin Coumans 90e331a239 bump PyBullet version to 3.20 2021-10-11 13:52:13 -07:00
Rémi Verschelde 41f03e78a5 LinearMath: Fix TaskScheduler build on UWP by disabling getProcessorInformation 
Disables the feature that requires loading kernel32 dynamically.
 2021-10-06 07:47:44 +02:00
Rémi Verschelde 364796d1e5 btSerializer: Remove unused but set variable 
Fixes a Clang/Emscripten warning.
 2021-09-29 16:32:14 +02:00
Rémi Verschelde ba65e909bc SoftBody: Fix local variable shadowing warning 2021-09-29 15:40:59 +02:00
Johannes Brust 5795bd676f Add deformable contact forces info 
- add contact information for collisions between rigid and soft bodies
- collisions between different soft bodies are not supported
- uses impulse acting on tetrahedral nodes for calculation of forces
- contact points are approximated by node positions
- multiple forces acting on identical nodes are accumulated
 2021-09-28 22:39:31 +02:00
erwincoumans cc84887919 Merge pull request #3945 from craftablescience/master 
Fix: remove cmake policy 0115 errors
 2021-09-20 14:37:29 -07:00
erwincoumans 289a1b3f6e Merge pull request #3931 from notrabs/bugfix/softbody-compound-crash 
Fix crash when btSoftBody collides with btCompoundShape
 2021-09-20 14:37:01 -07:00
Erwin Coumans 143f87abcf pybullet bump up to 3.19 2021-09-20 13:16:13 -07:00
erwincoumans 47c3f5e994 Merge pull request #3963 from erwincoumans/master 
revert linkNames in createMultiBody, we cannot pass pointers pointing… …
 2021-09-20 13:07:30 -07:00
Brendan L 9675e3d39b Merge branch 'bulletphysics:master' into master 2021-09-18 21:37:53 -04:00
Aaron Franke ad74cfe6c8 Update Bullet URL in copyright statements 2021-09-13 09:06:14 -05:00
Brendan Lewis b1927a4f92 Merge branch 'bulletphysics:master' into master 2021-09-05 19:31:37 -04:00
Erwin Coumans 4e881118ef bump up pybullet/bullet version to 3.18 2021-09-03 17:06:01 -07:00
Chuyuan Fu 9b3c8c8dbb fix format 2021-09-01 13:18:58 -07:00
Chuyuan Fu b795243cc5 fix asan 2021-09-01 13:18:58 -07:00
Brendan Lewis 090f8369f8 Fix: remove cmake policy 0115 errors 2021-08-24 21:39:12 -04:00
Chuyuan Fu 107295db5f fix typo 2021-08-19 09:32:49 -07:00
Chuyuan Fu e16c9bb1cc implement request deformable contact info 2021-08-18 18:48:35 -07:00
notrabs b2fd9a492d Fix crash when btSoftBody collides with btBvhTriangleMeshShape inside a btCompoundShape 
- The triBody->getCollisionShape() returns the btCompoundShape again, which does not implement the btConcaveShape interface required
- The crash happens when processAllTriangles is called below
 2021-08-08 01:11:04 +02:00
PouleyKetchoupp 2045f04f3c Fix early exit in heightfield raycast 
When deciding the ray is too short to use the accelerated structure and
a simple raycast is performed, the method now returns to avoid
processing it a second time using the accelerated structure.
 2021-05-13 18:08:27 -07:00
erwincoumans 0e124cb2f1 Merge pull request #3841 from erwincoumans/master 
fix some msan (memory sanitizer) issues
 2021-05-12 13:54:56 -07:00
Erwin Coumans 92fb2db0a3 fix some msan (memory sanitizer) issues 2021-05-12 20:14:15 +00:00
Chuyuan Fu 88112560a1 initialize unused fields for deformable collision detection 2021-05-11 22:13:42 -07:00
erwincoumans ebe1916b90 Merge pull request #3834 from erwincoumans/master 
bump up pybullet version (and c++ version) to 3.17/3.1.7
 2021-05-07 11:04:02 -07:00
Erwin Coumans 092b7bc3d9 bump up pybullet version (and c++ version) to 3.17/3.1.7 2021-05-07 11:03:21 -07:00
Andrea Catania c0efe069c5 Fixes assertion caused by a 0len vector normalization 
fixes #3194
 2021-04-26 11:04:39 +02:00
erwin coumans a142e8d174 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-04-24 23:53:04 -07:00
erwin coumans 3b2e46e7dd PyBullet: try to address activation/deactivation issue with fixed base multibody with links. 2021-04-24 23:52:53 -07:00
Erwin Coumans 85a03bf999 Merge remote-tracking branch 'bp/master' 2021-04-22 20:41:59 -07:00
Erwin Coumans fc2992b75a Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-22 20:41:45 -07:00
erwin coumans 46ea89a284 fixed base should set activation state to 'ISLAND_SLEEPING' 2021-04-22 20:20:08 -07:00
Matt Bennice 225fa20944 Fix memory leak in BulletSoftBody. 2021-04-22 15:32:38 -07:00
Erwin Coumans 83a5fe2d31 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-04-21 22:14:38 -07:00
erwincoumans 201e7159d6 Merge pull request #3351 from erwincoumans/master 
PyBullet: expose useMultiBody argument for loadMJCF command, expose sleeping threshold
 2021-04-20 14:42:42 -07:00
erwin coumans e58e5bdf95 PyBullet: 
expose pybullet.changeDynamics(sleepThreshold), default 0.05, for both useMaximalCoordinates=False and True
When the dot(vel,vel) < sleepThreshold for longer than 2 seconds (this timeout is hard coded) objects that have the ACTIVATION_STATE_ENABLE_SLEEPING enabled with be deactivated
Example:
p.changeDynamics(ob, -1, activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING, sleepThreshold=0.05)
 2021-04-20 11:29:27 -07:00
erwincoumans 049d13d190 Merge pull request #3324 from kjander0/bug/update_comment 
Updating a misleading comment
 2021-04-10 15:57:14 -07:00
erwincoumans 7ec009ec50 Merge pull request #3320 from AnyOldName3/patch-1 
Use drawTriangle instead of drawing three lines
 2021-04-05 16:21:35 -07:00