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Merge pull request #1135 from erwincoumans/master

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disable Grasp Soft Body/SoftBody coupling demo unless USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD is defined, fixed related hang in experimental 'loadBunny' command
This commit is contained in:
erwincoumans
2017-05-21 11:00:43 -07:00
committed by GitHub
parent 3c4fd2ce8c fd40ba424b
commit 148716d0ff
7 changed files with 165 additions and 7 deletions
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7
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -277,9 +277,10 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP),
ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP),
ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP),
ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
#endif //USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
#ifdef ENABLE_LUA
ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",

3
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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@@ -290,6 +290,7 @@ void b3RobotSimulatorClientAPI::setGravity(const b3Vector3& gravityAcceleration)
b3Warning("Not connected");
return;
}
b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
b3SharedMemoryStatusHandle statusHandle;
@@ -1142,5 +1143,5 @@ void b3RobotSimulatorClientAPI::loadBunny(double scale, double mass, double coll
b3LoadBunnySetScale(command, scale);
b3LoadBunnySetMass(command, mass);
b3LoadBunnySetCollisionMargin(command, collisionMargin);
b3SubmitClientCommand(m_data->m_physicsClientHandle, command);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}

3
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3247,6 +3247,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_LOAD_BUNNY:
{
serverStatusOut.m_type = CMD_UNKNOWN_COMMAND_FLUSHED;
hasStatus = true;
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
double scale = 0.1;
double mass = 0.1;
@@ -3287,6 +3289,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
psb->getCollisionShape()->setMargin(collisionMargin);
m_data->m_dynamicsWorld->addSoftBody(psb);
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
#endif
break;
}

5
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -238,8 +238,9 @@ struct MyMouseCommand
struct MotionArgs
{
MotionArgs()
:m_physicsServerPtr(0),
m_debugDrawFlags(0)
:
m_debugDrawFlags(0),
m_physicsServerPtr(0)
{
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{

37
examples/pybullet/examples/humanoid_knee_position_control.py Normal file
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@@ -0,0 +1,37 @@
import pybullet as p
import time
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
cid = p.connect(p.GUI)
p.resetSimulation()
useRealTime = 0
p.setRealTimeSimulation(useRealTime)
p.setGravity(0,0,0)
p.loadURDF("plane.urdf")
obUids = p.loadMJCF("mjcf/humanoid_fixed.xml")
human = obUids[0]
for i in range (p.getNumJoints(human)):
p.setJointMotorControl2(human,i,p.POSITION_CONTROL,targetPosition=0,force=50)
kneeAngleTargetId = p.addUserDebugParameter("kneeAngle",-4,4,-1)
maxForceId = p.addUserDebugParameter("maxForce",0,100,10)
kneeJointIndex=11
while (1):
time.sleep(0.01)
kneeAngleTarget = p.readUserDebugParameter(kneeAngleTargetId)
maxForce = p.readUserDebugParameter(maxForceId)
p.setJointMotorControl2(human,kneeJointIndex,p.POSITION_CONTROL,targetPosition=kneeAngleTarget,force=maxForce)
if (useRealTime==0):
p.stepSimulation()