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

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This commit is contained in:
Erwin Coumans
2019-05-07 19:43:33 -07:00
parent de8013ff75 defa172d39
commit 36ed4419bf
15 changed files with 125 additions and 18 deletions
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5
examples/ExampleBrowser/CMakeLists.txt
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@@ -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

8
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -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()

4
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -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);

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -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);

2
examples/SharedMemory/PhysicsDirect.cpp
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@@ -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;

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -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);

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -952,7 +952,7 @@ struct b3ForwardDynamicsAnalyticsIslandData
double m_remainingLeastSquaresResidual;
};
#define MAX_ISLANDS_ANALYTICS 1024
#define MAX_ISLANDS_ANALYTICS 64
struct b3ForwardDynamicsAnalyticsArgs
{

10
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -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);
b3LoadSoftBodySetMass(command, mass);
b3LoadSoftBodySetCollisionMargin(command, collisionMargin);
b3LoadSoftBodySetStartPosition(command, args.m_startPosition[0], args.m_startPosition[1], args.m_startPosition[2]);
b3LoadSoftBodySetStartOrientation(command, args.m_startOrientation[0], args.m_startOrientation[1], args.m_startOrientation[2], args.m_startOrientation[3]);
b3LoadSoftBodySetScale(command, args.m_scale);
b3LoadSoftBodySetMass(command, args.m_mass);
b3LoadSoftBodySetCollisionMargin(command, args.m_collisionMargin);
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
}

39
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -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();

29
examples/SharedMemory/grpc/ConvertGRPCBullet.cpp
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@@ -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]);
}

2
examples/SharedMemory/plugins/grpcPlugin/grpcPlugin.cpp
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@@ -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_;
}

33
examples/pybullet/pybullet.c
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@@ -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);

2
src/Bullet3Common/b3Vector3.h
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@@ -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))

1
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -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);

2
src/LinearMath/btVector3.h
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@@ -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))