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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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14
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@@ -378,7 +378,9 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
btScalar erp = infoGlobal.m_erp2;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
//split impulse is not implemented yet for btMultiBody*
//if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
erp = infoGlobal.m_erp;
}
@@ -388,19 +390,23 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
//split impulse is not implemented yet for btMultiBody*
// if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
//combine position and velocity into rhs
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
solverConstraint.m_rhsPenetration = 0.f;
} else
}
/*else
{
//split position and velocity into rhs and m_rhsPenetration
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = penetrationImpulse;
}
*/
solverConstraint.m_cfm = 0.f;
solverConstraint.m_lowerLimit = lowerLimit;
solverConstraint.m_upperLimit = upperLimit;

7
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -528,19 +528,20 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
if(!isFriction)
{
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
// if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
//combine position and velocity into rhs
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
solverConstraint.m_rhsPenetration = 0.f;
} else
}
/*else
{
//split position and velocity into rhs and m_rhsPenetration
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = penetrationImpulse;
}
*/
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
}

2
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
View File

@@ -384,7 +384,7 @@ btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBr
m_multiBodyConstraintSolver(constraintSolver)
{
//split impulse is not yet supported for Featherstone hierarchies
getSolverInfo().m_splitImpulse = false;
// getSolverInfo().m_splitImpulse = false;
getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS;
m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver,dispatcher);
}