Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #1719 from erwincoumans/master

Browse Source 
const char* for path, bump up pybullet version
This commit is contained in:
erwincoumans
2018-05-30 19:48:25 -07:00
committed by GitHub
parent afa5ab25a6 491ecf2a20
commit 292e198a57
8 changed files with 32 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -359,7 +359,7 @@ void ConvertURDF2BulletInternal(
if (cache.m_bulletMultiBody==0)
{
bool canSleep = false;
bool canSleep = (flags & CUF_ENABLE_SLEEPING)!=0;
bool isFixedBase = (mass==0);//todo: figure out when base is fixed
int totalNumJoints = cache.m_totalNumJoints1;
cache.m_bulletMultiBody = creation.allocateMultiBody(urdfLinkIndex, totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep);

1
examples/Importers/ImportURDFDemo/URDF2Bullet.h
View File

@@ -29,6 +29,7 @@ enum ConvertURDFFlags {
CUF_GLOBAL_VELOCITIES_MB=256,
CUF_MJCF_COLORS_FROM_FILE=512,
CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
CUF_ENABLE_SLEEPING=2048,
};
struct UrdfVisualShapeCache

2
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -4513,7 +4513,7 @@ B3_SHARED_API double b3GetTimeOut(b3PhysicsClientHandle physClient)
return -1;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3SetAdditionalSearchPath(b3PhysicsClientHandle physClient, char* path)
B3_SHARED_API b3SharedMemoryCommandHandle b3SetAdditionalSearchPath(b3PhysicsClientHandle physClient, const char* path)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);

2
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -575,7 +575,7 @@ B3_SHARED_API void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryComma
B3_SHARED_API void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds);
B3_SHARED_API double b3GetTimeOut(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3SetAdditionalSearchPath(b3PhysicsClientHandle physClient, char* path);
B3_SHARED_API b3SharedMemoryCommandHandle b3SetAdditionalSearchPath(b3PhysicsClientHandle physClient, const char* path);
B3_SHARED_API void b3MultiplyTransforms(const double posA[/*3*/], const double ornA[/*4*/], const double posB[/*3*/], const double ornB[/*4*/], double outPos[/*3*/], double outOrn[/*4*/]);
B3_SHARED_API void b3InvertTransform(const double pos[/*3*/], const double orn[/*4*/], double outPos[/*3*/], double outOrn[/*4*/]);

1
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -682,6 +682,7 @@ enum eURDF_Flags
URDF_GLOBAL_VELOCITIES_MB =256,
MJCF_COLORS_FROM_FILE=512,
URDF_ENABLE_CACHED_GRAPHICS_SHAPES=1024,
URDF_ENABLE_SLEEPING=2048,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes

25
examples/pybullet/examples/sleepObjectAutoDeactivation.py Normal file
View File

@@ -0,0 +1,25 @@
import pybullet as p
import time
useMaximalCoordinates=False
flags = 0#p.URDF_ENABLE_SLEEPING
p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.loadURDF("plane100.urdf",flags=flags, useMaximalCoordinates=useMaximalCoordinates)
#p.loadURDF("cube_small.urdf", [0,0,0.5], flags=flags)
for k in range (10):
for i in range (10):
r2d2=p.loadURDF("r2d2.urdf",[k*2,i*2,1], useMaximalCoordinates=useMaximalCoordinates, flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES+flags)
for j in range (p.getNumJoints(r2d2)):
p.setJointMotorControl2(r2d2,j,p.VELOCITY_CONTROL,targetVelocity=0)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
timestep = 1./240.
p.setTimeStep(timestep)
p.setGravity(0,0,-10)
while p.isConnected():
p.stepSimulation()
time.sleep(timestep)

1
examples/pybullet/pybullet.c
View File

@@ -9308,6 +9308,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_GLOBAL_VELOCITIES_MB", URDF_GLOBAL_VELOCITIES_MB);
PyModule_AddIntConstant(m, "MJCF_COLORS_FROM_FILE", MJCF_COLORS_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_ENABLE_CACHED_GRAPHICS_SHAPES", URDF_ENABLE_CACHED_GRAPHICS_SHAPES);
PyModule_AddIntConstant(m, "URDF_ENABLE_SLEEPING", URDF_ENABLE_SLEEPING);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);

2
setup.py
View File

@@ -450,7 +450,7 @@ print("-----")
setup(
name = 'pybullet',
version='2.0.0',
version='2.0.1',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',