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Author SHA1 Message Date
erwincoumans 63c4d67e33 add pyproject.toml 
see also https://packaging.python.org/en/latest/guides/modernize-setup-py-project/ and
https://github.com/pypa/pip/issues/6334
 2025-10-21 19:13:14 -07:00
Erwin Coumans 6c888f4abd update docker command/version, so pybullet wheels are compatible with numpy 2.0 and 1.0 
(thanks to Antonin Raffin for the report)
 2025-01-29 15:09:22 -08:00
Erwin Coumans bda00360fb add wheel creation script, usage 
assume bullet3 is located in ~/dev/bullet3 and run this docker command from ~

sudo docker run -it -v $(pwd):/io quay.io/pypa/manylinux2014_x86_64

then in the docker
cd io/dev/bullet3
./wheel.sh

after exit of docker, the wheels are in ~/wheelhouse
and can be uploaded to pypi
 2025-01-29 14:29:46 -08:00
Erwin Coumans 69783a8480 : 2025-01-29 14:28:32 -08:00
erwincoumans e9c461b0ac Merge pull request #4576 from lukebayes/patch-1 
Add missing ".h" to file pointer
 2024-04-09 16:35:53 -07:00
erwincoumans 43d336fcad Merge pull request #4585 from ConnorTingley/Floating-Body-Inverse-Dynamics 
Fix calculateInverseDynamics losing one joint DOF for floating bodies
 2024-04-09 16:30:33 -07:00
erwincoumans 5e89410409 Merge pull request #4583 from iche033/iche033/joint_force_torque 
Fix joint force/torque feedback
 2024-04-09 16:25:09 -07:00
Erwin Coumans 6bb8d1123d Bump up pybullet version to 3.26 
expose max_num_object_capacity and max_shape_capacity_in_bytes to override the graphics VBO buffer allocations. This allows to load larger triangle meshes in pybullet.

Example:
p.connect(p.GUI, options="--max_num_object_capacity=131072 --max_shape_capacity_in_bytes=1073741824")

Use MAX_NUM_PARTS_IN_BITS=4 by default, this allows to use 134 million triangles in each concave triangle mesh in PyBullet (instead of 2 Million)
 2023-11-28 14:23:32 -08:00
Erwin Coumans fcef2c81f2 expose max_num_object_capacity and max_shape_capacity_in_bytes to override the graphics VBO buffer allocations. This allows to load larger triangle meshes in pybullet. 
Example:
p.connect(p.GUI, options="--max_num_object_capacity=131072 --max_shape_capacity_in_bytes=1073741824")

Use MAX_NUM_PARTS_IN_BITS=4 by default, this allows to use 134 million triangles in each concave triangle mesh in PyBullet (instead of 2 Million)
 2023-11-28 14:21:33 -08:00
erwincoumans 39b8de74df Merge pull request #4444 from littlemine/patch-1 
fix child transforms of a compound
 2023-05-04 06:10:06 -07:00
erwincoumans e7193f8fdf Merge pull request #4462 from gazebo-forks/nkoenig/fix_joint_wrench 
Fix joint force/torque sensor values
 2023-05-04 06:09:50 -07:00
erwincoumans 0e59474e1c Merge pull request #4413 from aprilprojecteu/master 
re-enable softbody/rigidbody contact report
 2023-02-24 10:54:03 -08:00
erwincoumans c037d9ba27 Merge pull request #4382 from ManuCorrea/fix-points 
Added fix for deleting debug points with life time.
 2023-02-24 10:32:04 -08:00
erwincoumans 2c204c49e5 Merge pull request #4284 from vitalybuka/master 
Initialize vertexSource
 2022-09-24 20:00:36 -07:00
erwincoumans 327336d80b Merge pull request #4314 from mahiuchun/core 
Use OpenGL 3.3 core profile in eglCreateContext().
 2022-09-24 19:59:02 -07:00
erwincoumans dad061fc13 Merge pull request #4295 from ShoYamanishi/improvement_lemke_leaving_variable 
fix: improve the lexico-minimum finder in LemkeAlgorithm.
 2022-09-02 10:17:14 -07:00
erwincoumans daadfacfff Merge pull request #4309 from vitalybuka/box 
Initialize 4th component of btVector3
 2022-08-16 21:47:10 -07:00
erwincoumans fd2fe1365a Merge pull request #4321 from crewmatt/master 
Update btSoftBody to handle close to degenerate triangles.
 2022-08-16 21:45:01 -07:00
erwincoumans a1d96646c8 Merge pull request #4118 from dbartolini/fix-warning 
Fix indentation
 2022-05-26 23:12:33 -04:00
erwincoumans 466b76680b Merge pull request #4146 from petershh/patch-1 
Add explicit int cast to avoid conversion warning
 2022-05-26 23:10:40 -04:00
erwincoumans 19aa740d84 Merge pull request #4269 from erwincoumans/master 
OpenAI Gym API change: add mode argument to render method
 2022-05-20 12:35:28 -07:00
erwincoumans 2ad5f5a7d7 Merge pull request #4264 from akien-mga/fix-Wunused-but-set-variable 
Fix `-Wunused-but-set-variable` in debug code
 2022-05-20 12:14:30 -07:00
erwincoumans 7dee3436e7 Merge pull request #4252 from erwincoumans/master 
manually copy data, to avoid possible memory leaks.
Thanks to Jason Peng and Gilbert Feng for the report and reproduction case.
 2022-04-25 19:39:24 -07:00
erwin coumans fdab95dbab Merge branch 'master' of github.com:erwincoumans/bullet3 2022-04-25 19:32:45 -07:00
erwin coumans a899725cc6 clear the m_userVisualShapeHandles at resetSimulation to avoid memory build-up (not a leak at exit, since memory was del-allocated in the destructor) 2022-04-25 19:32:25 -07:00
erwin coumans 9185f93174 manually copy data, to avoid possible memory leaks. 2022-04-25 18:31:07 -07:00
erwincoumans e95657f80f Merge pull request #4251 from erwincoumans/master 
remove 'override' since Bullet uses C++2003
 2022-04-24 16:50:07 -07:00
erwincoumans 617df44898 Merge pull request #4248 from CrosRoad95/patch-1 
Allow delivered classes to access unscaled points
 2022-04-23 15:52:39 -07:00
erwincoumans ce23bb9dce Merge pull request #4249 from erwincoumans/master 
fix for debug lines / point rendering, introduced in PR #3996
 2022-04-23 15:52:10 -07:00
Erwin Coumans f263c422e2 Merge branch 'master' of github.com:erwincoumans/bullet3 2022-04-23 14:00:22 -07:00
Erwin Coumans 31b9be82a1 revert lines glsl shader, and add points glsl shader for instanced rendering of point cloud. 2022-04-23 13:56:40 -07:00
erwincoumans 0edcbd693a Merge pull request #4241 from erwincoumans/master 
remove dependency on Examples from src folder.
 2022-04-23 06:25:00 -07:00
erwincoumans cd771af26f Merge pull request #4228 from Teemperor/FixUninitRead 
Fix uninitialized read in rpyFromMatrix
 2022-04-14 21:55:52 -07:00
erwincoumans 31aeeadb2d Merge pull request #4234 from szabolcsdombi/szabolcsdombi-patch-1 
fix missing getTransformB in btMinkowskiSumShape
 2022-04-14 21:55:29 -07:00
erwincoumans e306b274f1 Update VERSION 2022-03-29 21:03:06 -07:00
Erwin Coumans d3b4c27db4 bump up version to 3.22 2022-03-25 19:59:28 -07:00
erwincoumans 22d9eec148 Merge pull request #4219 from erwincoumans/master 
remove thread import, it is not needed and required C++11
 2022-03-25 19:56:39 -07:00
Erwin Coumans 5e8a4717b9 remove thread import, it is not needed and required C++11 2022-03-25 19:56:03 -07:00
erwincoumans ae885be38d Merge pull request #4218 from erwincoumans/master 
fix compile error
 2022-03-25 19:50:48 -07:00
Erwin Coumans 0070e0d52b fix compile error 
bump up to pybullet 3.22
 2022-03-25 19:49:53 -07:00
erwincoumans 5d75748c0d Merge pull request #4213 from bwrsandman/fix-uwp 
UWP: Fix potentially uninitialized local pointer variable error
 2022-03-25 19:29:36 -07:00
erwincoumans b9117c780f Merge pull request #4212 from bwrsandman/patch-1 
Fix compile on windows 64 bit arm architecture
 2022-03-25 19:29:27 -07:00
erwincoumans c07f6f66e8 Merge pull request #4211 from Roker2/fix_manifold_point_warning 
BulletCollision: NarrowPhaseCollision: btManifoldPoint: Fix warning spam
 2022-03-25 19:25:37 -07:00
erwincoumans c0c03f279a Merge pull request #4217 from DVLP/patch-1 
Intermittent alignment issues fix
 2022-03-25 19:21:01 -07:00
erwincoumans ea715cc3b3 Merge pull request #4196 from erwincoumans/master 
remove debugging lines
 2022-03-09 20:48:02 -08:00
erwincoumans 6c300fbeee Merge pull request #4198 from fuchuyuan/fix 
Restore B3_MESH_DATA_SIMULATION_MESH flag and suppress virtual warnings
 2022-03-09 17:55:30 -08:00
erwincoumans e576dbe92c Merge pull request #4195 from bulletphysics/revert-4194-revert-4069-master 
redo "Reduced Deformable Model""
 2022-03-08 07:46:21 -08:00
erwincoumans 4fbecfeddc Revert "Revert "Reduced Deformable Model"" 2022-03-07 16:35:07 -08:00
erwincoumans aee1ab63fe Merge pull request #4194 from bulletphysics/revert-4069-master 
Revert "Reduced Deformable Model"
 2022-03-07 15:39:31 -08:00
erwincoumans 3df6e1a721 Revert "Reduced Deformable Model" 2022-03-07 15:38:32 -08:00
erwincoumans a8e1ce8273 Merge pull request #3996 from wkentaro/addUserDebugPoints 
Add pybullet.addUserDebugPoints
 2022-03-06 20:54:09 -08:00
erwincoumans 2e4e25b330 Merge pull request #4190 from erwincoumans/master 
fix build
 2022-03-06 18:54:04 -08:00
erwincoumans 6b35174ea9 Merge pull request #4137 from duckdoom5/patch-1 
Remove unused variable
 2022-03-05 19:13:13 -08:00
erwincoumans 2b685e98ee Merge pull request #4161 from r-a-sattarov/master 
E2K: fixed build by MCST lcc compiler when using BUILD_EXTRAS=ON option
 2022-03-05 19:12:40 -08:00
Erwin Coumans 90414a5074 Merge remote-tracking branch 'bp/master' into master 2022-03-05 14:02:18 -08:00
erwincoumans b74bdfbbcf Merge pull request #4187 from asuka-mio/master 
fix build with bionic c
 2022-03-05 13:51:34 -08:00
erwincoumans 0c40b73b0e Merge pull request #4167 from simjaecheol/master 
urdfEditor - handle joint limits
 2022-03-05 13:50:58 -08:00
erwincoumans 103db13379 Merge pull request #4175 from cmower/cmower-fix-import-error 
Fix import error in humanoid running examples.
 2022-03-05 13:50:07 -08:00
erwincoumans 0ec6091efb Merge pull request #4170 from fuchuyuan/reconstruct 
Reconstruct
 2022-03-05 13:49:36 -08:00
erwincoumans e32c0674e7 Merge pull request #4172 from fuchuyuan/contact 
Provide Deformable-Deformable contact for request contact info
 2022-03-05 13:48:47 -08:00
erwincoumans 34a471586e Merge pull request #4069 from jyc-n/master 
Reduced Deformable Model
 2022-03-05 13:48:32 -08:00
Erwin Coumans dd93f73fc4 Merge remote-tracking branch 'bp/master' into master 2022-03-05 13:41:28 -08:00
erwincoumans 9f3c4123a2 Merge pull request #4174 from sippeyxp/substep_rand 
Fix incorrect application of disturbance push.
 2022-02-28 07:41:58 -08:00
Erwin Coumans 28b951c128 add optimization for early out for convex versus triangle mesh. Helps getting closer to Jolt Physics Benchmark (at low number of threads) 2022-02-25 13:43:35 -08:00
erwincoumans 267f983498 Merge pull request #4178 from RanTig/rb-userdata 
Also adds user data specified in URDF files to rigid bodies.
 2022-02-24 11:21:46 -08:00
erwincoumans 58cde7b598 Merge pull request #4181 from erwincoumans/master 
rename tiny_obj_loader.h namespace to bt_tinyobj to avoid conflicts
 2022-02-24 09:22:53 -08:00
Erwin Coumans 9bfca83a8f rename tiny_obj_loader.h namespace to bt_tinyobj to avoid conflicts 2022-02-24 08:32:34 -08:00
erwincoumans 88651395b7 Merge pull request #4171 from fuchuyuan/index 
fix inded in loop
 2022-02-22 10:07:44 -08:00
erwincoumans 9eac022ffa Merge pull request #4169 from bulletphysics/revert-3979-deformableForces 
Revert "Add deformable contact forces info"
 2022-02-18 17:36:42 -08:00
erwincoumans 22ef34bb69 Revert "Add deformable contact forces info" 2022-02-18 16:14:53 -08:00
erwincoumans 2cad239c00 Merge pull request #4160 from erwincoumans/master 
update pybullet quickstart guide pdf
 2022-02-12 16:25:17 -08:00
Erwin Coumans 256fe2ec70 update pybullet quickstart guide pdf 2022-02-12 16:24:46 -08:00
Erwin Coumans 6906198132 Implement joint limit for btMultiBody spherical joint. In URDF, add 
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created

See examples/pybullet/examples/spherical_joint_limit.py and
    examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
 2022-01-30 13:04:24 -08:00
Erwin Coumans 5cd8160086 add spherical_joint_limit.py example 2022-01-30 13:00:52 -08:00
Erwin Coumans b602045665 Implement joint limit for btMultiBody spherical joint. In URDF, add 
<limit effort="1000.0" lower="0.2" upper=".8" twist=".3"/>
effort is max force/impulse
lower = swing range in X
upper = swing range in Y
twist = twist range around Z
(ranges all in radians)
lower, upper, twist and effort need to be > 0, otherwise no limit is created

See examples/pybullet/examples/spherical_joint_limit.py and
    examples/pybullet/gym/pybullet_data/spherical_joint_limit.urdf
 2022-01-30 13:00:11 -08:00
Erwin Coumans 5d1c8a2ece move the mutex lock to include the 'getNewManifold', dealing with Issue #4117 2022-01-02 21:05:07 -08:00
Erwin Coumans 0ab3b9d9f7 fix texture coordinates for aliengo trunk 2021-12-10 17:25:39 -08:00
Erwin Coumans 610fb2c117 prettify aliengo trunk a bit 2021-12-10 16:12:41 -08:00
Erwin Coumans 0aecbb9cdc delete MPL licensed meshes, replace by manual textured meshes. 2021-12-10 15:51:25 -08:00
Erwin Coumans 9c380f18f6 bump up PyBullet to version 3.21 2021-12-01 10:28:20 -08:00
Erwin Coumans a84071ee67 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-11-05 21:08:36 -07:00
Erwin Coumans 6088293149 update to Eigen 3.4.0, to fix Issue 4013 2021-11-05 21:08:24 -07:00
Erwin Coumans 1a670681f7 Merge branch 'master' of github.com:erwincoumans/bullet3 2021-10-25 09:44:29 -07:00
Erwin Coumans e1ac14b23d add missing bunny.obj 2021-10-25 09:44:10 -07:00
Erwin Coumans 90e331a239 bump PyBullet version to 3.20 2021-10-11 13:52:13 -07:00
Erwin Coumans a8f088d4d3 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-10-11 12:56:29 -07:00
Erwin Coumans 00567a5261 remote tensorflow requirement from envs_v2 2021-10-11 12:56:15 -07:00
erwincoumans aa49e19385 Update README.md 
remote tensorflow requirement
 2021-10-11 12:14:45 -07:00
Erwin Coumans 931f93d266 Merge remote-tracking branch 'bp/master' into master 2021-10-03 15:19:58 -07:00
Erwin Coumans 9d211393e4 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-10-03 15:19:26 -07:00
Erwin Coumans 34d77242e5 tweak gear (mimic) constraint example, enable erp (to avoid positional relative drift) and position camera at the gears. 2021-10-03 15:18:40 -07:00
Erwin Coumans 143f87abcf pybullet bump up to 3.19 2021-09-20 13:16:13 -07:00
Erwin Coumans 87605ca4c8 revert linkNames in createMultiBody, we cannot pass pointers pointing to local memory (storing the string) around into shared memory or over the network. 2021-09-20 12:22:30 -07:00
Erwin Coumans 4e881118ef bump up pybullet/bullet version to 3.18 2021-09-03 17:06:01 -07:00
Erwin Coumans b6df08b553 implement resetMeshData for deformable bodies, this allows better reset for reinforcement learning algorithms. 2021-09-02 17:27:05 -07:00
erwin coumans 3577ef8108 Merge branch 'master' of github.com:erwincoumans/bullet3 into master 2021-09-01 15:00:10 -07:00
erwin coumans 7de63bdbc5 fix tiny_renderer standalone example 2021-09-01 15:00:01 -07:00
erwin coumans 7ac95be8cd add training and run/eval scripts to train envs_v2 Laikago pmtg 2021-08-17 08:56:30 -07:00
erwin coumans e399944982 add simplified Laikago model for faster CPU rendering (getCameraImage in direct mode using TinyRenderer) 2021-08-03 13:26:39 -07:00
Erwin Coumans 092b7bc3d9 bump up pybullet version (and c++ version) to 3.17/3.1.7 2021-05-07 11:03:21 -07:00