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Commit Graph
90 Commits
Author SHA1 Message Date
stolk 4c2eb79f29 Fix compiler warning. 2020-04-03 09:47:28 -07:00
stolk f4d8f5d6de Don't go out of bounds. 2020-04-01 11:28:50 -07:00
Erwin Coumans 2d224cf319 revert backward compabitility in API 2018-10-20 19:44:39 -07:00
erwincoumans 01a8a36933 fix example 2018-10-20 16:13:48 -07:00
erwincoumans ab8f16961e Code-style consistency improvement: 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
 2018-09-23 14:17:31 -07:00
Erwin Coumans 5517cbc4e0 add segmask_linkindex.py example using p.getCameraImage(320,200,flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX) 
to extract object unique id and link index from segmentation mask in getCameraImage
 2017-12-28 12:37:07 -08:00
Erwin Coumans afd1066c50 pybullet.getCameraImage: preparation to expose link index in segmentation mask buffer 2017-12-28 10:18:35 -08:00
Erwin Coumans 88289c032e fix canvas issues from previous commit 2017-11-18 17:20:21 -08:00
Erwin Coumans ee8fd56c5e prepare to train racecar using ZED camera pixels (CNN+DQN) 2017-06-13 16:04:50 -07:00
Erwin Coumans c84416d932 add debug view for getCameraImage (RGB, depth, segmentation mask) 2017-06-13 10:53:24 -07:00
yunfeibai bfcbb339cf Merge remote-tracking branch 'upstream/master' 2017-06-02 18:26:04 -07:00
yunfeibai 0a29c8d9af Get debug visualizer camera yaw, pitch, dist, and target. 2017-06-02 18:24:51 -07:00
yunfeibai e2a9fc33dc Remove debug code. 2017-06-02 17:40:50 -07:00
yunfeibai 3506603d60 Test conversion from view matrix to yaw pitch roll. 2017-06-02 16:56:05 -07:00
yunfeibai f350a506a6 Enable rgba color update for TinyRender. 2017-06-01 23:32:26 -07:00
yunfeibai e97bb9d494 Add utility function to convert view matrix to camera yaw pitch roll. 2017-06-01 21:44:02 -07:00
yunfeibai e6d1a8cf97 Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll. 2017-06-01 15:30:37 -07:00
erwincoumans 83f910711a Prepare/allow for non-Bullet2-based physics command processor in pybullet/Bullet-C-API 
!!! Make sure to add examples/SharedMemory/PhysicsServerExampleBullet2.cpp to your build system, if needed
Bump up pybullet to version 1.0.9
 2017-05-30 19:54:55 -07:00
Erwin Coumans 433d11d8cf Add a btIDEbugDraw::clearLines, helps multi-threaded rendering of lines (while updating those lines in a dynamics world in a different thread) 
Expose COV_ENABLE_VR_RENDER_CONTROLLERS, to enable/disable rendering of controllers (and some frames) in VR
Expose COV_ENABLE_RENDERING to enable/disable rendering.
Fix some multi-threading issues (potential crashes), related to debug drawing/rendering in one thread, while changing the dynamics world/removing/resetSimulation in a different thread.
 2017-05-16 12:19:03 -07:00
yunfeibai 98654a0cb4 Change dynamic to dynamics in dynamics info. 2017-05-09 10:31:28 -07:00
yunfeibai 5fe4c6bb5b Add API to get dynamic info. 2017-05-07 22:21:38 -07:00
yunfeibai e363e12ea4 Add default specular when there is not specular map. Add example for adjusting specular coefficient. 2017-05-07 21:09:08 -07:00
Erwin Coumans 82b576a390 fixed a bug that prevented kitchens/1.sdf to render properly (local scaling was double applied) 
disable some left-over clipping that was moved to another part of the code
 2017-04-06 21:13:23 -07:00
Erwin Coumans deb95c758b TinyRenderer: implement triangle clipping against near-plane 
TinyRenderer: implement texture UV-repeat by default (instead of clamp(0,1))
 2017-04-06 14:31:34 -07:00
Erwin Coumans c0c4c8ba3f fix many warnings 
remove btMultiSapBroadphase.*
make collisionFilterGroup/collisionFilterMark int (instead of short int)
 2017-01-15 22:26:11 -08:00
yunfeibai 1fbd78ece5 Add shared memory API for setting shadow and light source distance. 2016-11-29 13:19:35 -08:00
yunfeibai 0bc4e0a4c3 Render multiple objects with shadow. 2016-11-27 16:53:15 -08:00
yunfeibai 529274a3f4 Render shadow of torus with shadow buffer and index from triangle order. 2016-11-27 15:32:55 -08:00
yunfeibai 29809a4471 Render depth buffer. 2016-11-23 13:00:26 -08:00
yunfeibai 24b3e137a6 Render shadow with depth from light. 2016-11-21 10:21:14 -08:00
yunfeibai 1b312dab3c Remove the temporary test code. 2016-10-21 12:42:42 -07:00
yunfeibai 3d79961725 Add API to change texture with object id and link index. 2016-10-21 11:55:27 -07:00
yunfeibai 4911b14271 Add loading texture API. 2016-10-20 23:40:30 -07:00
yunfeibai 1c04da23db Change texture with loaded texture file. 2016-10-20 21:40:44 -07:00
yunfeibai 35688e4ecf Change texture for one body. 2016-10-20 14:20:09 -07:00
yunfeibai 6ef96a4027 Add programmatic render API and a basic test. 2016-10-20 10:56:44 -07:00
erwin coumans f97cb7002d first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API 
b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
 2016-10-18 22:05:28 -07:00
erwin coumans 29f3afe2a4 don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps 
optimize gpu upload (use glBufferSubData instead of glMapBuffer
Avoid checking char array against zero.
 2016-10-14 15:06:09 -07:00
erwincoumans 33d9603e16 Add rudimentary 'saveWorld' command in shared memory API and pybullet, see examples/pybullet/saveWorld.py 
Use trilinear filtering instead of bilinear
 2016-10-12 23:03:36 -07:00
erwin coumans 0936ae6600 expose getNumBodies, getBodyUniqueId, getBodyInfo (char* baseName) to shared memory API and pybullet., making it easier to serialize the state of the world. 2016-09-27 12:13:45 -07:00
erwincoumans 85fd7f560c add first draft of contact point query in shared memory API 
b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient);
void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA);
void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData);
Implemented for PhysicsClientSharedMemory, not for PhysicsDirect yet.
Add btCollisionObject::setUserIndex2
 2016-09-01 13:30:07 -07:00
erwin coumans 6005e54aa1 Fix some inconsistencies in URDF file handling between btRigidBody and btMultiBody 
(rotation order and application of root-inertial-frame offset)
 2016-08-18 09:44:33 -07:00
Erwin Coumans c75bebcafe revert accidently renaming of m_depthvalues4 2016-08-12 13:55:37 -07:00
Erwin Coumans 3c30e2f821 add segmentation mask rendering to TinyRenderer and shared memory API 
similar to the zbuffer, but storing the object index (int) instead of float depth
 2016-08-11 14:55:30 -07:00
erwin coumans a9b1544a9f Add premake support to build pybullet, Windows and Linux tested, will enable Mac in next commit. 
Expose inverse dynamics to Bullet shared memory API, through b3CalculateInverseDynamicsCommandInit and
b3GetStatusInverseDynamicsJointForces command/status. See PhysicsClientExeample or pybullet for usage.
Add option for Windows and Linux to set python_lib_dir and python_include_dir for premake and --enable_pybullet option
Expose inverse dynamics to pybullet: [force] = p.calculateInverseDynamics(objectIndex,[q],[qdot],[acc])
Thanks to Jeff Bingham for the suggestion.
 2016-08-09 18:40:12 -07:00
Erwin Coumans b880ddf76b add pybullet render API with yaw/pitch/roll option 
add testrender.py file
allow option to enable OpenGL hardware renderer in multithreaded sim

b3RequestCameraImageSelectRenderer(commandHandle,ER_BULLET_HARDWARE_OPENGL);
 2016-08-08 14:23:44 -07:00
erwin coumans 75e86051c2 Add inverse kinematics example with implementations by Sam Buss. 
Uses Kuka IIWA model description and 4 methods:
Selectively Damped Least Squares,Damped Least Squares,
Jacobi Transpose, Jacobi Pseudo Inverse
Tweak some PD values in Inverse Dynamics example and Robot example.
 2016-07-24 22:22:42 -07:00
Erwin Coumans 10cc6f14cb add option to use hardware OpenGL renderer for synthetic camera 2016-07-12 18:16:13 -07:00
erwin coumans d0f20eafd1 Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR. 
Add option to have Z as up-axis for VR examples.
Add OpenVR LICENSE + README file
Don't crash VR app when no HMD is detected, just exit.
For now, don't request debug lines in client, it slows down physics server in VR mode too much.
 2016-07-02 18:53:19 -07:00
Erwin Coumans 2cd0eba257 re-introduce old method in pybullet for temporary back-wards compatibility 
b3JointControlCommandInit requires 3 args, but it was only 2,
use b3JointControlCommandInit2 for now.
 2016-06-23 08:40:36 -07:00