Joshua Aduol
cc4c02edc7
Fixed bugs mistaking forearm_roll_joint for upper_arm_roll_joint
2018-09-09 00:17:06 +01:00
Erwin Coumans
7376c26e4b
remove gl libs from openvr
2018-09-07 16:06:42 -07:00
erwincoumans
5164f2f9a7
remove pre-build proto/grpc files (they differ for each platform and proto/grpc version)
2018-09-07 15:44:33 -07:00
erwincoumans
0efc67841d
allow pybullet to connect to GRPC server. (need to use flag --enable_grpc in premake build system)
...
add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes.
example script to start server from pybullet:
import pybullet as p
p.connect(p.GUI)
#if statically linked plugin
id = p.loadPlugin("grpcPlugin")
#dynamics loading the plugin
#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")
#start the GRPC server at hostname, port
if (id>=0):
p.executePluginCommand(id, "localhost:1234")
Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs:
numRPC = 10
while (1):
p.executePluginCommand(id, intArgs=[numRPC])
2018-09-05 17:58:14 -07:00
Erwin Coumans
31b06f508a
only add notifications if there is a plugin that needs them
...
call the 'reportNotifications' in GRPC server main
2018-09-04 19:24:31 -07:00
Erwin Coumans
18b782847d
make GRPC work on Linux,
2018-09-04 16:56:34 -07:00
Erwin Coumans
51f9a6fd0d
make grpc work on Mac OSX with premake
2018-09-04 14:49:12 -07:00
erwincoumans
710e660763
Merge pull request #1855 from erwincoumans/master
...
more work on grpc/proto/pybullet.proto
2018-09-04 12:11:03 -07:00
erwincoumans
c4842220a8
Merge pull request #1852 from RanTig/remove-visual-shape
...
Removes visual shape data when a body gets removed.
2018-09-04 09:42:48 -07:00
erwincoumans
9b66074949
add some missing GRPC files
2018-09-04 09:10:57 -07:00
erwincoumans
9e2f6c7935
more GRPC work
2018-09-03 23:13:15 -07:00
Tigran Gasparian
a670041793
Small fix in executePluginCommand, now you can pass int arguments while keeping floats null without errors.
2018-09-03 10:41:38 +02:00
Tigran Gasparian
93145f3979
Adding space to make compiler happy.
2018-09-03 10:37:22 +02:00
erwincoumans
23e84ca9b6
more work on proto/pybullet.proto
2018-09-01 13:49:56 -07:00
Tigran Gasparian
9799f356de
.
2018-08-31 15:35:35 +02:00
Tigran Gasparian
f132b4d16b
Only make the change for Linux, since OSX doesn't have dlmopen()
2018-08-31 15:33:08 +02:00
Tigran Gasparian
c062bfc2d5
Removes visual shape data when a body gets removed.
...
Problem description:
When you add a body, remove it and then add a new
body, the body id may be reused by Bullet.
Because the visual shape data was not being removed when a body was
removed, requesting the visual shape data for a 'recycled' body id
results in both the visual shape data of the new body as well as the old
one.
Removing the visual shape data when the body gets removed fixes this.
Changes the btAlignedObjectArray for visual shapes to a hashmap, so
that removing is faster. Additionally, functions like getNumVisualShape
don't perform a linear search anymore.
2018-08-31 15:12:28 +02:00
Tigran Gasparian
6036c027bf
Uses dlmopen() instead of dlopen() in b3PluginManager.cpp. This allows plugins to be loaded in a separate namespace, avoiding symbol conflicts.
2018-08-31 10:53:46 +02:00
Erwin Coumans
40a15053bd
add createProtobufs.sh script for Mac/Linux (only tested on Mac so far)
2018-08-30 10:09:00 -07:00
erwincoumans
4f7dfc2069
Add preliminary GRPC server for PyBullet and BulletRobotics.
...
Will add GRPC client and PyBullet GRPC server plugin.
Will cover most/all SharedMemoryCommand/SharedMemoryStatus messages.
Run the server, then test using the pybullet_client.py
2018-08-29 21:12:13 -07:00
Erwin Coumans
72c48870b0
after picking in a multibody demo, allow sleeping for rigid bodies
2018-08-26 18:07:28 -07:00
Erwin Coumans
186ddb81d8
fix tab/space issue in Python file
...
fix determinism issue introduced in previous commit
2018-08-26 17:17:42 -07:00
Erwin Coumans
6ab6cf0bdb
test if different broadphase maintains determinism
2018-08-26 16:49:17 -07:00
Erwin Coumans
ff43cea263
Fix some deactivation issues with btMultiBodyDynamicsWorld, should also improve performance for PyBullet with larger worlds
...
(even when sleeping is disabled, islands are split)
2018-08-26 16:14:36 -07:00
Erwin Coumans
3036a6d2bc
also drop 'model://' from URDF file names (like we drop package://)
2018-08-26 09:33:51 -07:00
erwincoumans
78946c8ca7
Merge pull request #1842 from crewmatt/crewmatt-ikoriginalpositions
...
Allow current positions for Calculate IK.
2018-08-23 23:07:48 -07:00
Erwin Coumans
61b7591b8e
expose choice of contraint solver in PyBullet, with switchConstraintSolver example
2018-08-23 23:04:17 -07:00
mbennice
780b280181
Allow current positions for Calculate IK.
...
Allows the user to specify the current positions of joints when
calculating Inverse Kinematics.
2018-08-23 13:19:15 -07:00
Erwin Coumans
6d53f1a6d9
fix parameter mismatch in SerialChains.cpp
2018-08-09 17:15:54 -07:00
Erwin Coumans
90e08b41a5
bump up pybullet version
2018-08-09 16:53:11 -07:00
Erwin Coumans
15e831ab99
revert default linear slop, need to handle restitution separately
2018-08-09 16:49:25 -07:00
Erwin Coumans
d6cf60ab83
Merge remote-tracking branch 'bp/master'
2018-08-09 16:48:55 -07:00
Erwin Coumans
07b21ca4a2
add missing SerialChains.cpp file to premake4.lua
2018-08-09 16:30:20 -07:00
Jeongseok Lee
3627407041
Remove Lemke from SerialChains demo
2018-08-07 15:27:54 -07:00
Jeongseok Lee
48e5a3a9ed
Cleanup SerialChains demo
2018-08-07 15:18:58 -07:00
Jeongseok Lee
777ffac5c2
Fix typo in demo name: MultiDofCreateFunc --> MultiDof
2018-08-06 10:42:25 -07:00
Jeongseok Lee
e8e97d39fe
Merge remote-tracking branch 'upstream/master' into multibody_mlcp_solver_v2
2018-08-06 10:34:43 -07:00
Erwin Coumans
56e7333941
bump up pybullet version
2018-08-04 09:58:15 -07:00
erwincoumans
961d8adad1
Merge pull request #1806 from erwincoumans/master
...
prepare build system(s) for collisionFilterPlugin
2018-08-03 17:43:13 -07:00
Jeongseok Lee
89c6a83ae9
Add MLCP constraint solver for multibody
2018-08-02 22:53:30 -07:00
Tigran Gasparian
d93980f89f
Adds a simulation stepped notification
...
This notification is called when the simulation is stepped, regardless
of whether any objects have moved.
2018-08-01 17:49:58 +02:00
Erwin Coumans
08b5e6d766
add collisionFilterPlugin to pybullet plugin, also apply quat->euler fix for singular cases
2018-07-30 17:53:37 +02:00
Erwin Coumans
e75178181d
safe normalize on degenerate triangles
2018-07-30 12:21:02 +02:00
Erwin Coumans
2cab56d6ef
prepare build system(s) for collisionFilterPlugin
2018-07-27 15:48:24 +02:00
erwincoumans
8b27a7311c
Merge pull request #1801 from RanTig/TickPlugins
...
Notify plugins on certain events (e.g. body added).
2018-07-27 14:58:55 +02:00
Erwin Coumans
a696bd6a46
fix memory leak reported in Issue #1800
...
avoid access to array elements outside of range
2018-07-25 19:59:29 +02:00
Tigran Gasparian
35a55b2056
Changes tickPlugins to reportNotifications and only calls the processNotifications function on the plugins when there are actually notifications available. tickPlugins will to into a separate PR.
2018-07-25 14:47:34 +02:00
Tigran Gasparian
f745eafb36
Changes dynamic_cast<> to c-style cast.
2018-07-24 16:04:16 +02:00
Tigran Gasparian
c59afb88c4
Notify plugins on certain events (e.g. body added).
...
This also adds a periodic tick function to plugins, giving them periodically control over the simulation thread, even when the simulation is paused.
2018-07-24 14:12:16 +02:00
erwincoumans
defd961f60
Merge pull request #1798 from erwincoumans/master
...
Change constraint solver threshold-based termination condition on res…
2018-07-22 12:28:32 +02:00
Joshua Aduol
Erwin Coumans
erwincoumans
Erwin Coumans
Tigran Gasparian
mbennice
Jeongseok Lee