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add <restitution> in <contact> settings of URDF/SDF

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allow 'useMaximalCoordinates' and 'useFixedBase' in pybullet.loadURDF.
enable split impulse for btRigidBody, even in btMultiBodyDynamicsWorld.
allow initialization of velocity and apply force for btRigidBody in pybullet/shared memory API.
process contact parameters in URDF also for btRigidBody (friction, restitution etc)
add pybullet.setPhysicsEngineParameter with numSolverIterations, useSplitImpulse etc.
This commit is contained in:
Erwin Coumans
2016-11-30 22:24:20 -08:00
parent a5eda81e47
commit 15cda75130
11 changed files with 354 additions and 57 deletions
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52
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -143,6 +143,34 @@ void InitURDF2BulletCache(const URDFImporterInterface& u2b, URDF2BulletCachedDat
}
void processContactParameters(const URDFLinkContactInfo& contactInfo, btCollisionObject* col)
{
if ((contactInfo.m_flags & URDF_CONTACT_HAS_LATERAL_FRICTION) != 0)
{
col->setFriction(contactInfo.m_lateralFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_RESTITUTION) != 0)
{
col->setRestitution(contactInfo.m_restitution);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_ROLLING_FRICTION) != 0)
{
col->setRollingFriction(contactInfo.m_rollingFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_SPINNING_FRICTION) != 0)
{
col->setSpinningFriction(contactInfo.m_spinningFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_STIFFNESS_DAMPING) != 0)
{
col->setContactStiffnessAndDamping(contactInfo.m_contactStiffness, contactInfo.m_contactDamping);
}
}
void ConvertURDF2BulletInternal(
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
URDF2BulletCachedData& cache, int urdfLinkIndex,
@@ -258,11 +286,18 @@ void ConvertURDF2BulletInternal(
world1->addRigidBody(body);
compoundShape->setUserIndex(graphicsIndex);
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
processContactParameters(contactInfo, body);
creation.createRigidBodyGraphicsInstance(urdfLinkIndex, body, color, graphicsIndex);
cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
//untested: u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,body);
} else
{
@@ -413,22 +448,7 @@ void ConvertURDF2BulletInternal(
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
if ((contactInfo.m_flags & URDF_CONTACT_HAS_LATERAL_FRICTION)!=0)
{
col->setFriction(contactInfo.m_lateralFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_ROLLING_FRICTION)!=0)
{
col->setRollingFriction(contactInfo.m_rollingFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_SPINNING_FRICTION)!=0)
{
col->setSpinningFriction(contactInfo.m_spinningFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_STIFFNESS_DAMPING)!=0)
{
col->setContactStiffnessAndDamping(contactInfo.m_contactStiffness,contactInfo.m_contactDamping);
}
processContactParameters(contactInfo, col);
if (mbLinkIndex>=0) //???? double-check +/- 1
{

3
examples/Importers/ImportURDFDemo/URDFJointTypes.h
View File

@@ -22,6 +22,7 @@ enum URDF_LinkContactFlags
URDF_CONTACT_HAS_STIFFNESS_DAMPING=16,
URDF_CONTACT_HAS_ROLLING_FRICTION=32,
URDF_CONTACT_HAS_SPINNING_FRICTION=64,
URDF_CONTACT_HAS_RESTITUTION=128,
};
@@ -30,6 +31,7 @@ struct URDFLinkContactInfo
btScalar m_lateralFriction;
btScalar m_rollingFriction;
btScalar m_spinningFriction;
btScalar m_restitution;
btScalar m_inertiaScaling;
btScalar m_contactCfm;
btScalar m_contactErp;
@@ -42,6 +44,7 @@ struct URDFLinkContactInfo
:m_lateralFriction(0.5),
m_rollingFriction(0),
m_spinningFriction(0),
m_restitution(0),
m_inertiaScaling(1),
m_contactCfm(0),
m_contactErp(0),

25
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -672,6 +672,31 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
}
{
TiXmlElement *restitution_xml = ci->FirstChildElement("restitution");
if (restitution_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_restitution = urdfLexicalCast<double>(restitution_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_RESTITUTION;
}
else
{
if (!restitution_xml->Attribute("value"))
{
logger->reportError("Link/contact: restitution element must have value attribute");
return false;
}
link.m_contactInfo.m_restitution = urdfLexicalCast<double>(restitution_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_RESTITUTION;
}
}
}
{
TiXmlElement *spinning_xml = ci->FirstChildElement("spinning_friction");
if (spinning_xml)