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

examples/ExampleBrowser/CMakeLists.txt

@@ -94,6 +94,9 @@ LINK_LIBRARIES(
         BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
 )
 
+
+add_definitions(-DINCLUDE_CLOTH_DEMOS)
+
 IF (WIN32)
 	INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad
@@ -346,6 +349,8 @@ SET(BulletExampleBrowser_SRCS
   ../MultiBody/InvertedPendulumPDControl.cpp
   ../MultiBody/InvertedPendulumPDControl.h
  ../MultiBody/MultiBodyConstraintFeedback.cpp
+  ../SoftDemo/SoftDemo.cpp
+  ../SoftDemo/SoftDemo.h
   ../MultiBody/MultiDofDemo.cpp
   ../MultiBody/MultiDofDemo.h
   ../RigidBody/RigidBodySoftContact.cpp

examples/RoboticsLearning/GripperGraspExample.cpp

@@ -326,7 +326,10 @@ public:
 				m_robotSim.loadURDF("plane.urdf", args);
 			}
 			m_robotSim.setGravity(btVector3(0, 0, -10));
-			m_robotSim.loadSoftBody("bunny.obj", 0.1, 0.1, 0.02);
+			b3RobotSimulatorLoadSoftBodyArgs args(0.1, 1, 0.02);
+			args.m_startPosition.setValue(0, 0, 5);
+			args.m_startOrientation.setValue(1, 0, 0, 1);
+			m_robotSim.loadSoftBody("bunny.obj", args);
 
 			b3JointInfo revoluteJoint1;
 			revoluteJoint1.m_parentFrame[0] = -0.055;
@@ -402,7 +405,8 @@ public:
 				m_robotSim.loadURDF("plane.urdf", args);
 			}
 			m_robotSim.setGravity(btVector3(0, 0, -10));
-			m_robotSim.loadSoftBody("bunny.obj", 0.3, 10.0, 0.1);
+			b3RobotSimulatorLoadSoftBodyArgs args(0.3, 10, 0.1);
+			m_robotSim.loadSoftBody("bunny.obj", args);
 		}
 	}
 	virtual void exitPhysics()

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -315,7 +315,7 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle c
 }
 
 
-B3_SHARED_API int b3LoadSoftbodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ)
+B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
 	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
@@ -326,7 +326,7 @@ B3_SHARED_API int b3LoadSoftbodySetStartPosition(b3SharedMemoryCommandHandle com
 	return 0;
 }
 
-B3_SHARED_API int b3LoadSoftbodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW)
+B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
 	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);

examples/SharedMemory/PhysicsClientC_API.h

@@ -614,6 +614,8 @@ extern "C"
 	B3_SHARED_API int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle commandHandle, double scale);
 	B3_SHARED_API int b3LoadSoftBodySetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
 	B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
+	B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
+	B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3RequestVREventsCommandInit(b3PhysicsClientHandle physClient);
 	B3_SHARED_API void b3VREventsSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle, int deviceTypeFilter);

examples/SharedMemory/PhysicsDirect.cpp

@@ -1546,7 +1546,7 @@ int PhysicsDirect::getNumUserData(int bodyUniqueId) const
 void PhysicsDirect::getUserDataInfo(int bodyUniqueId, int userDataIndex, const char** keyOut, int* userDataIdOut, int* linkIndexOut, int* visualShapeIndexOut) const
 {
 	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
-	if (!bodyJointsPtr || !(*bodyJointsPtr) || userDataIndex <= 0 || userDataIndex > (*bodyJointsPtr)->m_userDataIds.size())
+	if (!bodyJointsPtr || !(*bodyJointsPtr) || userDataIndex < 0 || userDataIndex > (*bodyJointsPtr)->m_userDataIds.size())
 	{
 		*keyOut = 0;
 		*userDataIdOut = -1;

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -7376,6 +7376,8 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
 				psb->generateBendingConstraints(2, pm);
 				psb->m_cfg.piterations = 20;
 				psb->m_cfg.kDF = 0.5;
+				//turn on softbody vs softbody collision
+				psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
 				psb->randomizeConstraints();
 				psb->rotate(initialOrn);
 				psb->translate(initialPos);

examples/SharedMemory/SharedMemoryPublic.h

@@ -952,7 +952,7 @@ struct b3ForwardDynamicsAnalyticsIslandData
 	double m_remainingLeastSquaresResidual;
 };
 
-#define MAX_ISLANDS_ANALYTICS 1024
+#define MAX_ISLANDS_ANALYTICS 64
 
 struct b3ForwardDynamicsAnalyticsArgs
 {

examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp

@@ -1134,7 +1134,7 @@ void b3RobotSimulatorClientAPI_NoDirect::submitProfileTiming(const std::string&
 	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
 }
 
-void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin)
+void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileName, const struct b3RobotSimulatorLoadSoftBodyArgs& args)
 {
 	if (!isConnected())
 	{
@@ -1143,9 +1143,11 @@ void b3RobotSimulatorClientAPI_NoDirect::loadSoftBody(const std::string& fileNam
 	}
 
 	b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
-	b3LoadSoftBodySetScale(command, scale);
+	b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]);
-	b3LoadSoftBodySetMass(command, mass);
+	b3LoadSoftBodySetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]);
-	b3LoadSoftBodySetCollisionMargin(command, collisionMargin);
+	b3LoadSoftBodySetScale(command, args.m_scale);
+	b3LoadSoftBodySetMass(command, args.m_mass);
+	b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin);
 	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
 }
 

examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h

@@ -52,6 +52,43 @@ struct b3RobotSimulatorLoadSdfFileArgs
 	}
 };
 
+struct b3RobotSimulatorLoadSoftBodyArgs
+{
+	btVector3 m_startPosition;
+	btQuaternion m_startOrientation;
+	double m_scale;
+	double m_mass;
+	double m_collisionMargin;
+
+	b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn, const double &scale, const double &mass, const double &collisionMargin)
+		: m_startPosition(startPos),
+		  m_startOrientation(startOrn),
+		  m_scale(scale),
+		  m_mass(mass),
+		  m_collisionMargin(collisionMargin)
+	{
+	}
+
+	b3RobotSimulatorLoadSoftBodyArgs(const btVector3 &startPos, const btQuaternion &startOrn)
+	{
+		b3RobotSimulatorLoadSoftBodyArgs(startPos, startOrn, 1.0, 1.0, 0.02);
+	}
+
+	b3RobotSimulatorLoadSoftBodyArgs()
+	{
+		b3RobotSimulatorLoadSoftBodyArgs(btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1));
+	}
+
+	b3RobotSimulatorLoadSoftBodyArgs(double scale, double mass, double collisionMargin)
+		: m_startPosition(btVector3(0, 0, 0)),
+		  m_startOrientation(btQuaternion(0, 0, 0, 1)),
+		  m_scale(scale),
+		  m_mass(mass),
+		  m_collisionMargin(collisionMargin)
+	{
+	}
+};
+
 struct b3RobotSimulatorLoadFileResults
 {
 	btAlignedObjectArray<int> m_uniqueObjectIds;
@@ -647,7 +684,7 @@ public:
 
 	int getConstraintUniqueId(int serialIndex);
 
-	void loadSoftBody(const std::string &fileName, double scale, double mass, double collisionMargin);
+	void loadSoftBody(const std::string &fileName, const struct b3RobotSimulatorLoadSoftBodyArgs &args);
 
 	virtual void setGuiHelper(struct GUIHelperInterface *guiHelper);
 	virtual struct GUIHelperInterface *getGuiHelper();

examples/SharedMemory/grpc/ConvertGRPCBullet.cpp

@@ -1261,7 +1261,7 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se
 			serverStatus.m_sendActualStateArgs.m_numDegreeOfFreedomU = numDegreeOfFreedomU;
 
 			serverStatus.m_sendActualStateArgs.m_stateDetails = (SendActualStateSharedMemoryStorage*)bufferServerToClient;
-			
+
 			for (int i = 0; i < numDegreeOfFreedomQ; i++)
 			{
 				serverStatus.m_sendActualStateArgs.m_stateDetails->m_actualStateQ[i] = stat->actualstateq(i);
@@ -1274,7 +1274,7 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se
 			{
 				serverStatus.m_sendActualStateArgs.m_rootLocalInertialFrame[i] = stat->rootlocalinertialframe(i);
 			}
-			for (int i = 0; i < numLinks * 6; i++)
+			for (int i = 0; i < numLinks * 7; i++)
 			{
 				serverStatus.m_sendActualStateArgs.m_stateDetails->m_linkLocalInertialFrames[i] = stat->linklocalinertialframes(i);
 			}
@@ -1447,6 +1447,29 @@ bool convertGRPCToStatus(const PyBulletStatus& grpcReply, SharedMemoryStatus& se
 			serverStatus.m_sendPixelDataArguments.m_startingPixelIndex = cam->startingpixelindex();
 			break;
 		}
+		case CMD_GET_DYNAMICS_INFO_COMPLETED:
+		{
+			converted = true;
+			const ::pybullet_grpc::GetDynamicsStatus* stat = &grpcReply.getdynamicsstatus();
+			serverStatus.m_dynamicsInfo.m_mass = stat->mass();
+			serverStatus.m_dynamicsInfo.m_lateralFrictionCoeff = stat->lateralfriction();
+			serverStatus.m_dynamicsInfo.m_spinningFrictionCoeff = stat->spinningfriction();
+			serverStatus.m_dynamicsInfo.m_rollingFrictionCoeff = stat->rollingfriction();
+			serverStatus.m_dynamicsInfo.m_restitution = stat->restitution();
+			serverStatus.m_dynamicsInfo.m_linearDamping = stat->lineardamping();
+			serverStatus.m_dynamicsInfo.m_angularDamping = stat->angulardamping();
+			serverStatus.m_dynamicsInfo.m_contactStiffness = stat->contactstiffness();
+			serverStatus.m_dynamicsInfo.m_contactDamping = stat->contactdamping();
+			serverStatus.m_dynamicsInfo.m_localInertialDiagonal[0] = stat->localinertiadiagonal().x();
+			serverStatus.m_dynamicsInfo.m_localInertialDiagonal[1] = stat->localinertiadiagonal().y();
+			serverStatus.m_dynamicsInfo.m_localInertialDiagonal[2] = stat->localinertiadiagonal().z();
+			serverStatus.m_dynamicsInfo.m_frictionAnchor = stat->frictionanchor();
+			serverStatus.m_dynamicsInfo.m_ccdSweptSphereRadius = stat->ccdsweptsphereradius();
+			serverStatus.m_dynamicsInfo.m_contactProcessingThreshold = stat->contactprocessingthreshold();
+			serverStatus.m_dynamicsInfo.m_activationState = stat->activationstate();
+			break;
+		}
+
 		default:
 		{
 #endif  //ALLOW_GRPC_STATUS_CONVERSION
@@ -1706,7 +1729,7 @@ bool convertStatusToGRPC(const SharedMemoryStatus& serverStatus, char* bufferSer
 				{
 					stat->add_rootlocalinertialframe(rootLocalInertialFramePtr[i]);
 				}
-				for (int i = 0; i < numLinks * 6; i++)
+				for (int i = 0; i < numLinks * 7; i++)
 				{
 					stat->add_linklocalinertialframes(linkLocalInertialFrames[i]);
 				}

examples/SharedMemory/plugins/grpcPlugin/grpcPlugin.cpp

@@ -206,7 +206,9 @@ private:
 			{
 				GPR_ASSERT(status_ == FINISH);
 				// Once in the FINISH state, deallocate ourselves (CallData).
+				CallData::CallStatus tmpStatus = status_;
 				delete this;
+				return tmpStatus;
 			}
 			return status_;
 		}

examples/pybullet/pybullet.c

@@ -1942,7 +1942,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 	int physicsClientId = 0;
 	int flags = 0;
 
-	static char* kwlist[] = {"fileName", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
+	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
 
 	int bodyUniqueId = -1;
 	const char* fileName = "";
@@ -1952,10 +1952,36 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 
 	b3PhysicsClientHandle sm = 0;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|dddi", kwlist, &fileName, &scale, &mass, &collisionMargin, &physicsClientId))
+	double startPos[3] = {0.0, 0.0, 0.0};
+	double startOrn[4] = {0.0, 0.0, 0.0, 1.0};
+
+
+	PyObject* basePosObj = 0;
+	PyObject* baseOrnObj = 0;
+
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddi", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId))
 	{
 		return NULL;
 	}
+	else
+	{
+		if (basePosObj)
+		{
+			if (!pybullet_internalSetVectord(basePosObj, startPos))
+			{
+				PyErr_SetString(SpamError, "Cannot convert basePosition.");
+				return NULL;
+			}
+		}
+		if (baseOrnObj)
+		{
+			if (!pybullet_internalSetVector4d(baseOrnObj, startOrn))
+			{
+				PyErr_SetString(SpamError, "Cannot convert baseOrientation.");
+				return NULL;
+			}
+		}
+	}
 
 	sm = getPhysicsClient(physicsClientId);
 	if (sm == 0)
@@ -1971,6 +1997,9 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 		b3SharedMemoryCommandHandle command =
 			b3LoadSoftBodyCommandInit(sm, fileName);
 
+		b3LoadSoftBodySetStartPosition(command, startPos[0], startPos[1], startPos[2]);
+		b3LoadSoftBodySetStartOrientation(command, startOrn[0], startOrn[1], startOrn[2], startOrn[3]);
+
 		if (scale > 0)
 		{
 			b3LoadSoftBodySetScale(command, scale);

src/Bullet3Common/b3Vector3.h

@@ -36,7 +36,7 @@ subject to the following restrictions:
 #pragma warning(disable : 4556)  // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
 #endif
 
-#define B3_SHUFFLE(x, y, z, w) ((w) << 6 | (z) << 4 | (y) << 2 | (x))
+#define B3_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff)
 //#define b3_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
 #define b3_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask))
 #define b3_splat3_ps(_a, _i) b3_pshufd_ps((_a), B3_SHUFFLE(_i, _i, _i, 3))

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -344,6 +344,7 @@ void btMultiBody::finalizeMultiDof()
 	m_deltaV.resize(6 + m_dofCount);
 	m_realBuf.resize(6 + m_dofCount + m_dofCount * m_dofCount + 6 + m_dofCount);  //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + delta-pos vector (6 base "vels" + joint "vels")
 	m_vectorBuf.resize(2 * m_dofCount);                                           //two 3-vectors (i.e. one six-vector) for each system dof	("h" matrices)
+	m_matrixBuf.resize(m_links.size() + 1);
 	for (int i = 0; i < m_vectorBuf.size(); i++)
 	{
 		m_vectorBuf[i].setValue(0, 0, 0);

src/LinearMath/btVector3.h

@@ -36,7 +36,7 @@ subject to the following restrictions:
 #pragma warning(disable : 4556)  // value of intrinsic immediate argument '4294967239' is out of range '0 - 255'
 #endif
 
-#define BT_SHUFFLE(x, y, z, w) ((w) << 6 | (z) << 4 | (y) << 2 | (x))
+#define BT_SHUFFLE(x, y, z, w) (((w) << 6 | (z) << 4 | (y) << 2 | (x)) & 0xff)
 //#define bt_pshufd_ps( _a, _mask ) (__m128) _mm_shuffle_epi32((__m128i)(_a), (_mask) )
 #define bt_pshufd_ps(_a, _mask) _mm_shuffle_ps((_a), (_a), (_mask))
 #define bt_splat3_ps(_a, _i) bt_pshufd_ps((_a), BT_SHUFFLE(_i, _i, _i, 3))