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

pybullet.changeUserConstraint(maxForce=<double>)
pybullet.setPhysicsEngineParameter(collisionFilterMode=<int>)

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -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)
 {

examples/SharedMemory/PhysicsClientC_API.h

@@ -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);
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -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)
 							{

examples/SharedMemory/SharedMemoryCommands.h

@@ -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;
 };
 

examples/pybullet/pybullet.c

@@ -542,12 +542,15 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 	int useSplitImpulse = -1;
 	double splitImpulsePenetrationThreshold = -1;
 	int numSubSteps = -1;
+	int collisionFilterMode = -1;
+	
 	b3PhysicsClientHandle sm = 0;
 
 	int physicsClientId = 0;
-	static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","physicsClientId", NULL };
+	static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "physicsClientId", NULL };
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,&physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
+									 &collisionFilterMode, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -567,6 +570,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 		{
 			b3PhysicsParamSetNumSolverIterations(command, numSolverIterations);
 		}
+		if (collisionFilterMode>=0)
+		{
+			b3PhysicsParamSetCollisionFilterMode(command, collisionFilterMode);
+		}
 		if (numSubSteps >= 0)
 		{
 			b3PhysicsParamSetNumSubSteps(command, numSubSteps);
@@ -3016,7 +3023,7 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
 
 static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject *keywds) 
 {
-	static char *kwlist[] = { "userConstraintUniqueId","jointChildPivot", "jointChildFrameOrientation", "physicsClientId", NULL};
+	static char *kwlist[] = { "userConstraintUniqueId","jointChildPivot", "jointChildFrameOrientation","maxForce", "physicsClientId", NULL};
 	int userConstraintUniqueId=-1;
 	b3SharedMemoryCommandHandle commandHandle;
 	b3SharedMemoryStatusHandle statusHandle;
@@ -3027,8 +3034,9 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	PyObject* jointChildFrameOrnObj=0;
 	double jointChildPivot[3];
 	double jointChildFrameOrn[4];
+	double maxForce = -1;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOi", kwlist,&userConstraintUniqueId,&jointChildPivotObj, &jointChildFrameOrnObj,&physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOdi", kwlist,&userConstraintUniqueId,&jointChildPivotObj, &jointChildFrameOrnObj,&maxForce, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -3050,6 +3058,10 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	{
 		b3InitChangeUserConstraintSetFrameInB(commandHandle, jointChildFrameOrn);
 	}
+	if (maxForce>=0)
+	{
+		b3InitChangeUserConstraintSetMaxForce(commandHandle,maxForce);
+	}
 
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	statusType = b3GetStatusType(statusHandle);