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Merge pull request #979 from erwincoumans/master

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fix lack of collision scaling in pybullet URDF/SDF files (only graphi…
This commit is contained in:
erwincoumans
2017-03-02 08:18:11 -08:00
committed by GitHub
parent 1ba22c7c45 6a40c1cca7
commit 255b21a776
191 changed files with 842617 additions and 12 deletions
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57
examples/pybullet/pybullet.c
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@@ -606,14 +606,14 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int numSubSteps = -1;
int collisionFilterMode = -1;
double contactBreakingThreshold = -1;
int maxNumCmdPer1ms = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "contactBreakingThreshold", "physicsClientId", NULL };
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidi", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &physicsClientId))
{
return NULL;
}
@@ -658,7 +658,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetContactBreakingThreshold(command,contactBreakingThreshold);
}
if (maxNumCmdPer1ms>=0)
{
b3PhysicsParamSetMaxNumCommandsPer1ms(command,maxNumCmdPer1ms);
}
//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);
@@ -3004,6 +3007,43 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
}
static PyObject* pybullet_resetDebugVisualizerCamera(PyObject* self, PyObject* args, PyObject *keywds)
{
float cameraDistance = -1;
float cameraYaw = -1;
float cameraPitch = -1;
PyObject* cameraTargetPosObj=0;
int physicsClientId = 0;
b3PhysicsClientHandle sm=0;
static char *kwlist[] = {"cameraDistance", "cameraYaw", "cameraPitch", "cameraTargetPosition", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "fffO|i", kwlist,
&cameraDistance, &cameraYaw, &cameraPitch, &cameraTargetPosObj, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(sm);
if ((cameraDistance>=0) && (cameraYaw>=0) && (cameraPitch>=0))
{
float cameraTargetPosition[3];
if (pybullet_internalSetVector(cameraTargetPosObj,cameraTargetPosition))
{
b3ConfigureOpenGLVisualizerSetViewMatrix(commandHandle,cameraDistance,cameraPitch, cameraYaw, cameraTargetPosition);
}
}
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, PyObject *keywds)
{
@@ -5098,9 +5138,14 @@ static PyMethodDef SpamMethods[] = {
},
{ "configureDebugVisualizer", (PyCFunction)pybullet_configureDebugVisualizer, METH_VARARGS | METH_KEYWORDS,
"For the 3D OpenGL Visualizer, enable/disable GUI, shadows. Set the camera parameters."
"For the 3D OpenGL Visualizer, enable/disable GUI, shadows."
},
{ "resetDebugVisualizerCamera", (PyCFunction)pybullet_resetDebugVisualizerCamera, METH_VARARGS | METH_KEYWORDS,
"For the 3D OpenGL Visualizer, set the camera distance, yaw, pitch and target position."
},
{"getVisualShapeData", (PyCFunction)pybullet_getVisualShapeData, METH_VARARGS| METH_KEYWORDS,
"Return the visual shape information for one object." },

4
examples/pybullet/vrhand.py
View File

@@ -11,6 +11,8 @@ import pybullet as p
#first try to connect to shared memory (VR), if it fails use local GUI
c = p.connect(p.SHARED_MEMORY)
if (c<0):
c = p.connect(p.GUI)
#p.resetSimulation()
p.setGravity(0,0,-10)
print(c)
@@ -51,7 +53,7 @@ def convertSensor(x):
b = (v-minV)/float(maxV-minV)
return (1.0-b)
ser = serial.Serial(port='COM3',baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS)
ser = serial.Serial(port='COM9',baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS)
if (ser.isOpen()):
while True:
events = p.getVREvents()