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pybullet.changeDynamicsInfo/b3ChangeDynamicsInfoSetContactStiffnessAndDamping expose contactStiffness/contactDamping

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This commit is contained in:
Erwin Coumans
2017-06-07 08:37:42 -07:00
parent 877e2cf9f9
commit 0c3a3cc466
5 changed files with 41 additions and 4 deletions
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15
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1496,6 +1496,8 @@ b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physC
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command); b3Assert(command);
command->m_type = CMD_CHANGE_DYNAMICS_INFO; command->m_type = CMD_CHANGE_DYNAMICS_INFO;
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = -1;
command->m_changeDynamicsInfoArgs.m_linkIndex = -2;
command->m_updateFlags = 0; command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command; return (b3SharedMemoryCommandHandle) command;
@@ -1580,6 +1582,19 @@ int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHan
return 0; return 0;
} }
int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex,double contactStiffness, double contactDamping)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_changeDynamicsInfoArgs.m_contactStiffness =contactStiffness;
command->m_changeDynamicsInfoArgs.m_contactDamping = contactDamping;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING;
return 0;
}
b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info) b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
{ {
PhysicsClient* cl = (PhysicsClient* ) physClient; PhysicsClient* cl = (PhysicsClient* ) physClient;

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -89,6 +89,7 @@ int b3ChangeDynamicsInfoSetRollingFriction(b3SharedMemoryCommandHandle commandHa
int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double restitution); int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double restitution);
int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double linearDamping); int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double linearDamping);
int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double angularDamping); int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double angularDamping);
int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex,double contactStiffness, double contactDamping);
b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info); b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);

13
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4345,6 +4345,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping); mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
} }
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
{
mb->getBaseCollider()->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION) if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
{ {
mb->getBaseCollider()->setFriction(lateralFriction); mb->getBaseCollider()->setFriction(lateralFriction);
@@ -4392,6 +4396,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{ {
mb->getLinkCollider(linkIndex)->setFriction(lateralFriction); mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
} }
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
{
mb->getLinkCollider(linkIndex)->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
}
} }
@@ -4422,6 +4431,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
body->m_rigidBody->setDamping(linDamping, clientCmd.m_changeDynamicsInfoArgs.m_angularDamping); body->m_rigidBody->setDamping(linDamping, clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
} }
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
{
body->m_rigidBody->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION) if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
{ {
body->m_rigidBody->setRestitution(restitution); body->m_rigidBody->setRestitution(restitution);

4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -119,6 +119,8 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_RESTITUTION=32, CHANGE_DYNAMICS_INFO_SET_RESTITUTION=32,
CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING=64, CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING=64,
CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING=128, CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING=128,
CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING=256,
}; };
struct ChangeDynamicsInfoArgs struct ChangeDynamicsInfoArgs
@@ -133,6 +135,8 @@ struct ChangeDynamicsInfoArgs
double m_restitution; double m_restitution;
double m_linearDamping; double m_linearDamping;
double m_angularDamping; double m_angularDamping;
double m_contactStiffness;
double m_contactDamping;
}; };
struct GetDynamicsInfoArgs struct GetDynamicsInfoArgs

12
examples/pybullet/pybullet.c
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@@ -625,12 +625,13 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double restitution = -1; double restitution = -1;
double linearDamping = -1; double linearDamping = -1;
double angularDamping = -1; double angularDamping = -1;
double contactStiffness = -1;
double contactDamping = -1;
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "physicsClientId", NULL}; static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -671,12 +672,15 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{ {
b3ChangeDynamicsInfoSetAngularDamping(command,bodyUniqueId,angularDamping); b3ChangeDynamicsInfoSetAngularDamping(command,bodyUniqueId,angularDamping);
} }
if (restitution>=0) if (restitution>=0)
{ {
b3ChangeDynamicsInfoSetRestitution(command, bodyUniqueId, linkIndex, restitution); b3ChangeDynamicsInfoSetRestitution(command, bodyUniqueId, linkIndex, restitution);
} }
if (contactStiffness>=0 && contactDamping >=0)
{
b3ChangeDynamicsInfoSetContactStiffnessAndDamping(command,bodyUniqueId,linkIndex,contactStiffness, contactDamping);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
} }