Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-10-25 10:10:57 +00:00
Code Issues Packages Projects Releases Wiki Activity
9,141 Commits 19 Branches 27 Tags
60b6df94d921e94a315ecb9dae213e0e8a14a34a
Commit Graph
440 Commits
Author SHA1 Message Date
Chuyuan Kelly Fu fb3b306af1 load deformable deterministic setting 2022-02-18 17:47:54 -08:00
Aaron Franke ad74cfe6c8 Update Bullet URL in copyright statements 2021-09-13 09:06:14 -05:00
erwin coumans e952ac6f63 Add pybullet.configureDebugVisualizer(rgbBackground=[red,green,blue]) (each component a float in the range [0,1]) 
This is an alternative to passing options="--background_color_red=red --background_color_green=green --background_color_blue=blue" in the connect method.
 2021-05-06 18:08:22 -07:00
erwin coumans 5cf8ee3360 Allow to compile pybullet using btDiscreteDynamicsWorld (no multibodies and no deformables), this allows to create Jacobian and Mass matrix (and A=J*M-1*J_transpose) with MLCP solvers 
Add examples/pybullet/gym/pybullet_utils/readwriteurdf.py, this allows to read a URDF and write the URDF with more reasonable inertia tensors (based on mass and collision volumes)
 2021-03-15 22:44:55 -07:00
Gleb Mazovetskiy d248271e38 CMake: Also link Threads correctly in examples/ 2021-01-20 18:20:43 +00:00
WenlongLu ddbe6f7a5a remove duplicated cpp file in premake4.lua 2020-11-19 15:41:27 -08:00
Erwin Coumans ccf4e70a63 Merge remote-tracking branch 'bp/master' into master 2020-11-17 23:21:02 -08:00
Erwin Coumans 76fbbcd37e fix premake build 2020-11-13 17:36:19 -08:00
WenlongLu 8ccd67727f Add KinematicMultiBodyExample to premake4.lua 2020-11-13 15:56:09 -08:00
WenlongLu b95f9d3afb Add kinematic multibody base example 2020-10-29 23:34:53 -07:00
Erwin Coumans a67681aee5 add kinematic rigid body ground example. 2020-10-22 11:25:08 -07:00
Erwin Coumans 1452cae641 * add textured models of ball.vtk (obj/mtl) and torus (obj/mtl) and cloth. 
1) allow to render deformables in 'getCameraImage', for TinyRenderer (tested OK) and EGL (untested)
2) allow to have textures for deformables. See deformable_ball.py, deformable_anchor.py and deformable_torus.py for examples
3) deformables: allow to request simulation mesh data (even if there is a render mesh) See deformable_anchor.py for an example usage
   data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH)
4) fix deletion of deformables, thanks to Fychuyan, https://github.com/bulletphysics/bullet3/pull/3048
5) allow to enable and disable double-sided rendering, p.changeVisualShape(objectUid, linkIndex, flags=p.VISUAL_SHAPE_DOUBLE_SIDED)
6) fix GripperGraspExample, model not found
7) Fix deformable anchor not attaching to multibody with object unique id of 0
8) Fix issue with assignment of unique ids in TinyRenderer/EGL renderer (always use broadphase uid)
9) Avoid crash/issue of simulation with pinned vertices (mass 0) in btDeformableBackwardEulerObjective::applyExplicitForce
10) Store uv/normal in btSoftBody::RenderNode to allow textured meshes
11) (uncomment in btSoftBodyHelpers.cpp): dump vertices and indices in obj wavefront format, when loading a VTK file, for quicker creation of a (textured) surface mesh
12) allow interpolateRenderMesh also for old position-based soft bodies (not only the shiny new FEM deformables)
13) fix a few premake targets
14) update build_visual_studio_vr_pybullet_double_cmake.bat so it suits c:\python37 and installs locally
    for local install of Bullet, see also this example https://github.com/erwincoumans/hello_bullet_cmake
 2020-09-12 01:03:04 -07:00
Xuchen Han 3fd743a069 add a colliding demo to for easier implcit contact testing 2020-06-19 14:50:56 -07:00
Xuchen Han abaf278c2d add extreme deformation demo 2020-06-17 18:49:09 -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
Stephen Gold 5ec86e9f9a extend BVH and GImpact algorithms to accept meshes with UCHAR indices 2020-04-28 00:00:07 -07:00
stolk f4d8f5d6de Don't go out of bounds. 2020-04-01 11:28:50 -07:00
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