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b969f14d21400f79197575c351986a4daee53e64
Commit Graph
1304 Commits
Author SHA1 Message Date
Xuchen Han b969f14d21 run clang format 2020-06-19 14:52:44 -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
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
erwincoumans 5233b72160 Merge pull request #2800 from xhan0619/splitImpulseMulti 
Stability improvements for deformable.
 2020-05-21 09:47:33 -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
Erwin Coumans 3f0b8c938b fix for https://github.com/bulletphysics/bullet3/pull/2797 2020-05-17 14:09:42 -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
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
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
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 d479ca712c allow to call getDebugVisualizerCamera in DIRECT mode (returns all 0) 2020-05-05 03:15:26 +00:00
Erwin Coumans 8719ac6c95 soft body is not enabled in the test 2020-05-05 02:46:19 +00:00
erwincoumans ca50714996 Merge pull request #2775 from xhan0619/splitImpulse 
Split impulse
 2020-04-29 20:00:00 -07:00
Xuchen Han eefec255cf Merge remote-tracking branch 'origin/master' into splitImpulse 2020-04-27 20:29:06 -07:00
Chuyuan Fu 4e1fa56104 updateVisualShape for softbody 
fix

fix space
 2020-04-27 20:08:32 -07:00
Xuchen Han 5f1260199a set appropriate repulsion stiffness for pybullet torus demo 2020-04-27 20:05:16 -07:00
Xuchen Han ae3526254d add API for setting repulsion stiffness 2020-04-27 17:42:45 -07:00
Erwin Coumans 6268c5d105 conditionally compile btSoftBody only if not SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD 2020-04-23 16:24:03 -07:00
erwincoumans 3dbe5426bf Merge pull request #2766 from erwincoumans/master 
fix getContactPoint issue in case of swapped link indices, thanks to …
 2020-04-23 15:05:03 -07:00
Erwin Coumans ba5f8db0cf fix getContactPoint issue in case of swapped link indices, thanks to Jonas Gehring for the report 2020-04-23 14:04:53 -07:00
erwincoumans e1f5729963 Merge pull request #2757 from erwincoumans/master 
fixes for tcp server, allow createCollisionShape to load stl
 2020-04-22 08:53:07 -07:00
Erwin Coumans cbb459f5d4 fixes for TCP connection: report serverStatusOut.m_numDataStreamBytes when storing results in bufferServerToClient 2020-04-21 12:15:44 -07:00
erwincoumans 687780af6b Merge pull request #2745 from xhan0619/fix-rayTest-crash 
fix rayTest crash for btSoftBody
 2020-04-21 07:57:30 -07:00
Erwin Coumans 9cf93cebfd allow createCollisionShape to load stl. Still, it is best to convert it to obj and use v-hacd for concave shapes. 2020-04-20 20:59:32 -07:00
Erwin Coumans a8e2eb44e9 remote origin coordinate frame debug lines from egl renderer 2020-04-16 09:44:19 -07:00
Xuchen Han ed3b697320 fix rayTest crash for btSoftBody 2020-04-14 17:13:00 -07:00
Xuchen Han 5498c575c8 add guard agaist non-manifold geometry in vtk files 2020-04-09 11:16:28 -07:00
Chuyuan Fu 59ddea6fa4 bodyUniqueId can be 0 2020-04-07 13:38:26 -07:00
erwincoumans 9d1a2c4c57 Merge pull request #2711 from fuchuyuan/loadURDF 
Load urdf
 2020-04-06 20:31:28 -07:00
stolk 4c2eb79f29 Fix compiler warning. 2020-04-03 09:47:28 -07:00
Chuyuan Fu c2ea0293d8 fix mesh finding and notification 2020-04-01 20:48:09 -07:00
erwincoumans ec2b6dd920 Merge pull request #2704 from stolk/master 
Compiler warnings.
 2020-04-01 19:19:37 -07:00
Erwin Coumans d2ffab8905 fix previous leak fix 2020-04-01 18:32:58 -07:00
stolk f4d8f5d6de Don't go out of bounds. 2020-04-01 11:28:50 -07:00
Chuyuan Fu 3c46e6a584 load deformable object from URDF files 2020-03-31 20:55:47 -07:00
Erwin Coumans 762c21601f cache zipfile, and also allow to read zipfile from memory 
this allows zipfiles to be stored anywhere in already registed fileIO (such as zipfiles inside other zipfiles)
see Bullet/examples/pybullet/examples/fileIOPlugin.py
enable vhacd, fileIO and zipFileIO in premake version of PyBullet
fix potential memory leak in mtl loading
 2020-03-30 14:24:20 -07:00
Erwin Coumans e20b858a28 add pybullet_utils.transformations from ROS geometry: 
https://github.com/ros/geometry/blob/melodic-devel/tf/src/tf/transformations.py
 2020-03-24 10:34:02 -07:00
erwincoumans dd2f2e3128 Merge pull request #2682 from xhan0619/master 
Add support for getPose for deformable objects and separate deformable vs. rigid face contact and deformable vs. multibody face contact for flexibility.
 2020-03-22 18:44:18 -07:00