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8,549 Commits 19 Branches 27 Tags
b969f14d21400f79197575c351986a4daee53e64
Commit Graph
706 Commits
Author SHA1 Message Date
Chuyuan Fu b37448278a fix rigidbody activation 2020-03-05 10:48:56 -08:00
Xuchen Han 4efc983ca5 bug fixes and parameter tuning 2020-03-04 17:22:46 -08:00
Xuchen Han 62537436f2 more Motor->NonContactInner 2020-03-02 16:03:27 -08:00
Xuchen Han 4f36e09747 Motor->NonContactInner 2020-03-02 16:00:40 -08:00
Xuchen Han a6bc125945 formatting 2020-03-02 12:12:04 -08:00
Xuchen Han dbf2050269 extrapolate render mesh 2020-03-02 12:12:04 -08:00
Xuchen Han 7ad19fde6f formatting 2020-02-26 14:16:51 -08:00
Xuchen Han 84117b8440 separate motor constraint iterations and expose API 2020-02-26 14:11:41 -08:00
Erwin Coumans e29ba9fe5c add option to merge fixed links in URDF file (improves performance, can handle URDF files with many fixed links) 
add option to ignore visual and collision shapes in URDF file
 2020-02-21 15:04:26 -08:00
Erwin Coumans 6afa0a463d unsupported: expose collisionMargin to changeDynamics/getDynamicsInfo. 
add cube_convex.urdf for testing this collisionMargin. Test script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_implicit.urdf")
cube = p.loadURDF("cube_convex.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
	p.stepSimulation()
	pts = p.getContactPoints()
	p.changeDynamics(plane,-1,collisionMargin=0.3)
	p.changeDynamics(cube,-1,collisionMargin=0.3)
	print("===================")
	print("cube pos=", p.getBasePositionAndOrientation(cube)[0])
	print("margin=", p.getDynamicsInfo(plane,-1)[11])
	#time.sleep(1./10.)
 2020-02-14 17:36:40 -08:00
Tigran Gasparian 19075f75b2 Only clear the user data cache when a full user data sync is requested. 2020-02-03 15:24:12 +01:00
Tigran Gasparian 34db76d263 Adds an option to syncUserData to specify the bodies for which to sync. 2020-01-23 14:46:33 +01:00
Tigran Gasparian 899d53ee29 Added null check. 2020-01-21 19:40:22 +01:00
Tigran Gasparian 68d3fb28e0 Adds support for loading user data from URDF files. 2020-01-17 11:55:42 +01:00
erwincoumans 66ffa329c8 Merge pull request #2577 from xhan0619/master 
Add position error into deformable vs. rigid contact
 2020-01-11 16:05:15 -08:00
erwincoumans 88826da6b5 Merge pull request #2576 from dmcconachie/DeformableGravity 
[BUGFIX] Update existing deformable gravity forces on gravity change.
 2020-01-09 21:30:48 -08:00
Dale McConachie b526c01bec Update existing deformable gravity forces on gravity change. 2020-01-09 16:24:32 -05:00
Erwin Coumans 07cdae8c6e also apply TinyRenderer remove shape fix for rigid body and soft body/deformable 2020-01-08 14:02:32 -08:00
Erwin Coumans 6fde189735 fix indexing issue removing graphics shape in tinyrenderer plugin (use getUserIndex3 instead of broadphase uid) 2020-01-08 13:49:41 -08:00
Xuchen Han 78a8ddb466 change default damping model for mass spring to the angular momentum conserving one 2019-12-31 14:08:21 -08:00
Erwin Coumans 9c7e6d6a48 enable programmatic creation of spherical joint 2019-12-19 16:56:09 -08:00
erwincoumans 44f21e462a Merge pull request #2509 from xhan0619/separate-bending-stiffness 
Separate in-plane and bending stiffness for mass spring model
 2019-12-04 07:34:28 -08:00
Xuchen Han 7bce5d61f4 separate in-plane and bending stiffness for mass spring model for easier parameter tuning 2019-11-27 11:40:10 -08:00
Xuchen Han 39df98465e set a smaller dt for deformable_ball.py for stability and typo fix 2019-11-25 17:07:00 -08:00
Xuchen Han abd7a556e1 Merge remote-tracking branch 'origin/master' 2019-11-25 15:29:25 -08:00
erwincoumans 574343405d Merge pull request #2499 from xhan0619/fix-render-mesh 
Fix render mesh
 2019-11-21 16:38:54 -08:00
Xuchen Han fa7cb25c95 revert the default world to SOFT_MULTIBODY_WORLD 2019-11-20 23:47:15 -08:00
Chuyuan Fu 593fc872ab get correct AABB for softbody 2019-11-20 16:42:04 -08:00
Xuchen Han 00add5490f fix separate render and sim mesh 2019-11-19 23:10:08 -08:00
Xuchen Han 64e5e007e3 load render mesh from command 2019-11-19 21:07:26 -08:00
Erwin Coumans 96deb42aa5 pybullet.createSoftBodyAnchor 2019-11-19 19:20:08 -08:00
Erwin Coumans d42cf2d0ca enable compilation without deformables/soft bodies (for some unit tests 
in premake)
 2019-11-19 12:20:33 -08:00
Xuchen Han 6c34c91ca7 load render mesh from command 2019-11-18 23:37:23 -08:00
Erwin Coumans e5ed15c3b2 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 23:37:23 -08:00
Xuchen Han 22fb2cfb5e add python binding to allow loading deformable objects 2019-11-18 23:37:22 -08:00
Erwin Coumans 655981c6ad fix load_soft_body.py example. 
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
 2019-11-18 23:37:22 -08:00
Erwin Coumans 1f6d504e44 fix memory issues in btSparseSDF.h 
(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
 2019-11-18 10:22:56 -08:00
Xuchen Han a86710c5b6 add python binding to allow loading deformable objects 2019-11-15 21:25:11 -08:00
Erwin Coumans 72e0e7c223 fix load_soft_body.py example. 
add optional flags in pybullet.resetSimulation.
fix compile issue due to SKIP_DEFORMABLE_WORLD
fix issue in .obj importer (todo: replace with tiny_obj_loader)
todo: replace std::ifstream fs; by fileIO usage.
 2019-11-14 21:20:42 -08:00
Xuchen Han 2edd94c722 add option to approximate face contact with collision quadrature points 2019-11-12 17:10:39 -08:00
Xuchen Han 362bc6d9a3 fix the bug that prevents the pd control forces/torques being added 2019-11-08 17:08:59 -08:00
Chuyuan Fu 74571d79e7 add compute softbody com 2019-10-31 12:53:12 -07:00
Chuyuan Fu 618c85325c give softbody name 2019-10-31 12:53:12 -07:00
Chuyuan Fu 913400eba1 add SOLVER_USE_ARTICULATED_WARMSTARTING option and APIs 
fix compile
 2019-10-23 21:36:26 -07:00
Xuchen Han 45c4497711 fix compile 2019-10-15 13:50:13 -07:00
Xuchen Han 992e1454b6 turn on SKIP_DEFORMABLE 2019-10-15 13:50:13 -07:00
Xuchen Han c808bb78c7 delete lagrangian force when deleting dynamics world from command processor 2019-10-15 13:50:13 -07:00
Xuchen Han 94facf0029 typo fix 2019-10-15 13:50:13 -07:00
Xuchen Han e13578fee3 add option to turn self-collision on/off 2019-10-15 13:47:55 -07:00
Xuchen Han d0e4bbf04d fix gravity set up 2019-10-15 13:47:54 -07:00