erwincoumans
4fbecfeddc
Revert "Revert "Reduced Deformable Model""
2022-03-07 16:35:07 -08:00
erwincoumans
3df6e1a721
Revert "Reduced Deformable Model"
2022-03-07 15:38:32 -08:00
Erwin Coumans
e262b2b7ee
fix premake4 build
2022-03-05 18:41:55 -08:00
erwincoumans
0ec6091efb
Merge pull request #4170 from fuchuyuan/reconstruct
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Reconstruct
2022-03-05 13:49:36 -08:00
Chuyuan Kelly Fu
fb3b306af1
load deformable deterministic setting
2022-02-18 17:47:54 -08:00
jingyuc
f8abdd1fe1
clean up: remove unused example, rename the benchmark example
2022-01-30 22:33:24 -08:00
jingyuc
0b641b51d7
add benchmark comparison example. change ReduceddMotorGrasp example to the real world dimensions
2021-11-21 02:11:55 -05:00
jingyuc
07cfa9a433
add cfm and penetration correction to the velocity error for the contact constraint. clean up btReducedSoftBody class. momenumtum conservation WIP
2021-10-07 15:10:57 -04:00
jingyuc
1949710131
clean up momentum conservation test example and the springboard example
2021-10-04 17:36:17 -04:00
jingyuc
064fdc40bd
Merge branch 'bulletphysics:master' into master
2021-09-16 16:09:55 -04:00
Aaron Franke
ad74cfe6c8
Update Bullet URL in copyright statements
2021-09-13 09:06:14 -05:00
jingyuc
e62c42f54c
rotate the modes when the mesh has a initial transformation. new grasping example with motor WIP
2021-09-09 18:35:07 -04:00
jingyuc
3a84b05058
Added a new friction slope example (ground is rotating). Fixed a problem in the reduced deformable's friction (now clamp the maximum tangential impulse based on the tangential velocity impulse at the current iteration, not the total tangential velocity at the beginning)
2021-09-06 17:56:32 -04:00
jingyuc
93e00054e3
set up reduced grasping example
2021-09-02 13:35:14 -04:00
jingyuc
f26e3d133d
set up the reduced vs rigid collision example
2021-08-26 12:47:09 -04:00
jyc-n
3425c01acc
created new free fall example. WIP
2021-08-09 16:26:17 -04:00
jingyuc
6c2023e330
add mode visualizer example.
2021-07-28 12:34:01 -04:00
jingyuc
4b6eaeed4c
kinematic tested. specified delta_v as a cosine function.
2021-07-15 17:30:08 -04:00
jingyuc
f1e86bf257
test modes kinematics
2021-07-14 16:00:28 -04:00
jingyuc
fa00ee2bbd
Start the reduced deformable example. Read in mesh and modes files.
2021-07-13 00:45:11 -04:00
erwin coumans
e952ac6f63
Add pybullet.configureDebugVisualizer(rgbBackground=[red,green,blue]) (each component a float in the range [0,1])
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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
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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.
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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,
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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.
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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'
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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
