Merge branch 'master' of https://github.com/erwincoumans/bullet3

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp

@@ -33,7 +33,7 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
     btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
     rbci.m_startWorldTransform = initialWorldTrans;
     m_rigidBody = new btRigidBody(rbci);
-	m_rigidBody->forceActivationState(DISABLE_DEACTIVATION);
+	
 	
     return m_rigidBody;
 }

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -337,6 +337,12 @@ void ConvertURDF2BulletInternal(
         if (!createMultiBody)
         {
             btRigidBody* body = creation.allocateRigidBody(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrameInWorldSpace, compoundShape);
+			bool canSleep = (flags & CUF_ENABLE_SLEEPING)!=0;
+			if (!canSleep)
+			{
+				body->forceActivationState(DISABLE_DEACTIVATION);
+			}
+
             linkRigidBody = body;
 
             world1->addRigidBody(body);
@@ -359,7 +365,7 @@ 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);

examples/Importers/ImportURDFDemo/URDF2Bullet.h

@@ -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

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -2301,7 +2301,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
     m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
 
 	m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = 0.2;//need to check if there are artifacts with frictionERP
-	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
+	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0;
 	m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
 	m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
 //	m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2;

examples/SharedMemory/SharedMemoryPublic.h

@@ -684,6 +684,7 @@ 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

examples/pybullet/examples/sleeping.py

@@ -0,0 +1,25 @@
+import pybullet as p
+import time
+useMaximalCoordinates=False
+
+flags = 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 (5):
+	for i in range (5):
+		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)

examples/pybullet/pybullet.c

@@ -9313,6 +9313,7 @@ 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);

setup.py

@@ -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',