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[pybullet] expose collision filter mode and max constraint force:

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pybullet.changeUserConstraint(maxForce=<double>)
pybullet.setPhysicsEngineParameter(collisionFilterMode=<int>)
This commit is contained in:
Erwin Coumans
2017-01-16 18:17:18 -08:00
parent 93471a1c31
commit 12a391e1f9
5 changed files with 55 additions and 4 deletions
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25
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -347,6 +347,18 @@ int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHand
return 0;
}
int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_collisionFilterMode = filterMode;
command->m_updateFlags |= SIM_PARAM_UPDATE_COLLISION_FILTER_MODE;
return 0;
}
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1109,6 +1121,19 @@ int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHan
return 0;
}
int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_CONSTRAINT);
b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
command->m_updateFlags |=USER_CONSTRAINT_CHANGE_MAX_FORCE;
command->m_userConstraintArguments.m_maxAppliedForce = maxAppliedForce;
return 0;
}
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{

6
examples/SharedMemory/PhysicsClientC_API.h
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@@ -77,6 +77,8 @@ int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[3]);
int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
@@ -170,6 +172,10 @@ int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle
int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);
int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);

5
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3664,6 +3664,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btMatrix3x3 childFrameBasis(childFrameOrn);
userConstraintPtr->m_mbConstraint->setFrameInB(childFrameBasis);
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce*m_data->m_physicsDeltaTime;
userConstraintPtr->m_mbConstraint->setMaxAppliedImpulse(maxImp);
}
}
if (userConstraintPtr->m_rbConstraint)
{

3
examples/SharedMemory/SharedMemoryCommands.h
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@@ -540,6 +540,8 @@ enum EnumUserConstraintFlags
USER_CONSTRAINT_CHANGE_CONSTRAINT=4,
USER_CONSTRAINT_CHANGE_PIVOT_IN_B=8,
USER_CONSTRAINT_CHANGE_FRAME_ORN_IN_B=16,
USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
};
struct UserConstraintArgs
@@ -552,6 +554,7 @@ struct UserConstraintArgs
double m_childFrame[7];
double m_jointAxis[3];
int m_jointType;
double m_maxAppliedForce;
int m_userConstraintUniqueId;
};