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Commit Graph
40 Commits
Author SHA1 Message Date
Erwin Coumans c250a5f0b9 re-enable shared memory connection for pybullet Gym envs (with fallback to GUI or DIRECT) 
suppress shared memory connection warnings
add fallback from ER_BULLET_HARDWARE_OPENGL to TinyRenderer if not available
 2017-09-13 09:56:39 -07:00
Erwin Coumans adafcce830 compile fixes 2017-09-06 10:39:45 -07:00
erwincoumans 9d0f875c5b fix compile issues due to API change (additional argument) 2017-08-15 09:34:44 -07:00
Erwin Coumans 3d73a9d788 shmem preliminary TCP implementation (not working yet) 2017-02-20 16:46:25 -08:00
Erwin Coumans 55361e262e fix 6dof sensors for fixed joints (recent bug left fields uninitialized in getJointInfo) 
add premake build support for Test_PhysicsClientUDP
 2017-02-20 13:18:33 -08:00
Erwin Coumans 3d6584962a remove some memory leaks in example code. 2017-01-10 14:57:16 -08:00
erwincoumans 6ce6157c8a fix issue in DNA copy, reduce number of test iterations. 2016-11-04 20:53:57 -07:00
erwincoumans 9708392322 work-in-progress 
add UDP network connection for physics client <-> server.
also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
 2016-11-04 13:15:10 -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 7633cfb800 prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h 
prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)
 2016-07-11 00:26:40 -07:00
erwin coumans 60d2b99151 Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary) 
Improve rendering performance. OpenVR experience is smooth now.
commit needs a bit more testing before pushing in main repo.
 2016-07-07 19:24:44 -07:00
Erwin Coumans (Google) 6d1948e79e tweaks in pybullet and shared memory C-API: 
allow to reset the state of a single joint
allow to set the target/mode for a single joint motor at a time
rename pybullet API: initializeJointPositions -> resetJointState
 2016-06-24 07:31:17 -07:00
Erwin Coumans c7c01e6b32 add one more test, related to b3CreatePoseCommandInit 2016-06-20 14:09:37 -07:00
Erwin Coumans 53a0772257 fix some issues related to controlling a robot/multibody beyond body index 0 
(most testing happened with a single robot/multibody so far)
preliminary pybullet.setJointControl implementation
 2016-06-16 18:46:34 -07:00
Erwin Coumans 95a09bec99 implement getJointInfo for objects loaded through SDF 2016-06-15 18:01:41 -07:00
Erwin Coumans 456c844a6b work-in-progress send object/joint information after loading SDF file 2016-06-14 18:41:19 -07:00
Erwin Coumans bebe9a728b handle window closing in InProcessPhysicsClientSharedMemoryMainThread 2016-04-19 08:29:20 -07:00
Erwin Coumans 2cbfeb9590 run GUI on main thread for Mac OSX/__APPLE__, due to OS limitation 
add b3CreateInProcessPhysicsServerAndConnectMainThread to test.c
 2016-04-14 08:51:20 -07:00
Erwin Coumans 34e6eb4a18 add a few lines of documentation and some error checks in SharedMemory API 2016-04-13 13:06:15 -07:00
Erwin Coumans aa3daaa8c6 turn test/SharedMemory/test.c into a gtest for CI unit testing in github 
remove overly verbose printfs in importers
fix axis in r2d2.urdf
 2016-03-15 22:47:53 -07:00
Erwin Coumans 005ef9d2f1 fixes in SharedMemory unit test, premake build issue on Linux 2016-03-15 18:29:32 -07:00
erwincoumans efbb1edecc Allow InProcessExampleBrowser to use a malloc allocated memory block, instead of system shared memory. 
Make shared memory client/server a bit more robust, in case the server is terminated early.
 2016-03-10 14:36:46 -08:00
erwincoumans 9be978337f quick draft implementation for SharedMemoryInProcessPhysicsC_API 2016-03-07 14:56:16 -08:00
Erwin Coumans dabccd184d fixes in test/SharedMemory 2015-12-15 13:45:34 -08:00
erwincoumans 03bf78ef49 add physics server loopback (both client and server in the same process, using shared memory) 
add physics server direct (client and server in the same process, directly processing commands without shared memory transport mechanism)
 2015-11-22 20:50:32 -08:00
Erwin Coumans 2317307a22 Add b3GetStatusActualState() to C_API. 
Change pick-and-move C_API to use handlers
 2015-11-04 16:08:28 -08:00
Erwin Coumans 8a956318e5 fix case sensitive issue 2015-10-28 16:02:55 -07:00
erwin coumans 2d5d89d999 Allow to request the state of a rigid body (position, orientation, lin/ang velocity) through shared memory API 
PhysicsClientC_API: b3RequestActualStateCommandInit requires a body unique Id as second argument
 2015-10-27 15:46:13 -07:00
erwincoumans 57f50f1778 Create a PhysicsLoopBack that includes both PhysicsClient and PhysicsServer over shared memory. 
Add a test for PhysicsLoopBack.
 2015-10-26 17:56:21 -07:00
erwin coumans 4a29986662 initial support for multiple robots in shared memory API 2015-10-13 11:32:25 -07:00
= 066ff5f2e9 fix c error 2015-09-17 13:42:02 -07:00
= 23bdd0ed36 more work on physics client c-api over shared memory 2015-09-17 09:37:44 -07:00
= 003a42478b another step closer to useable shared memory C API 
(force/torque sensor needs new API)
in a nutshell, users of shared memory physics API should not
directly poke into shared memory, not fill 'SharedMemorCommand'
nor read SharedMemoryStatus directly. The C-API declares 'handles' for those,
to avoid it from happening.
 2015-09-16 23:09:10 -07:00
erwin coumans 40d07139a9 fix build 2015-09-04 10:28:32 -07:00
erwin coumans f75df90d82 Allow batches of debug lines. The PhysicsClientExample rendering is still slow (one line at a time, instead of batches) 
Prepare for IMU sensor in Shared Memory Server
 2015-09-03 14:18:22 -07:00
Erwin Coumans (Google) 3d130d9d66 reset simulation in test/SharedMemory/test for proper cleanup, 
and it can restart without shutting down/restarting physics server
w
 2015-08-27 17:51:31 -07:00
erwincoumans 49a89ab0e7 fix SharedMemory/test.c compile errors 2015-08-02 19:10:42 -07:00
= eb6663ed4b further work on shared memory API 
fix dependency of BulletDynamics to Bullet3Common (b3Printf)
 2015-08-02 14:00:43 -07:00
erwincoumans 19c5be5646 small progress towards shared memory C-api and test.c. 2015-07-30 23:22:44 -07:00
Erwin Coumans 812c67e221 fix various warnings, more work on shared memory API 2015-07-22 18:06:05 -07:00