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PyBullet.changeDynamics: expose jointDamping

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PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
This commit is contained in:
erwincoumans
2019-02-04 21:06:43 -08:00
parent 2eace2f715
commit 42369aa47d
10 changed files with 1019 additions and 253 deletions
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39
examples/pybullet/examples/otherPhysicsEngine.py
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@@ -1,14 +1,43 @@
import pybullet as p
import time
import math
p.connect(p.PhysX)
p.connect(p.PhysX)#GUI)
p.loadPlugin("eglRendererPlugin")
p.loadURDF("plane.urdf")
for i in range (50):
p.loadURDF("r2d2.urdf",[0,0,1+i*2])
for i in range (10):
sphere = p.loadURDF("marble_cube.urdf",[0,-1,1+i*1], useMaximalCoordinates=False)
p.changeDynamics(sphere ,-1, mass=1000)
door = p.loadURDF("door.urdf",[0,0,1])
p.changeDynamics(door ,1, linearDamping=0, angularDamping=0, jointDamping=0, mass=1)
print("numJoints = ", p.getNumJoints(door))
p.setGravity(0,0,-10)
position_control = True
angle = math.pi*0.25
p.resetJointState(door,1,angle)
prevTime = time.time()
angle = math.pi*0.5
while (1):
p.stepSimulation()
time.sleep(1./240.)
curTime = time.time()
diff = curTime - prevTime
#every second, swap target angle
if (diff>1):
angle = - angle
prevTime = curTime
if position_control:
p.setJointMotorControl2(door,1,p.POSITION_CONTROL, targetPosition = angle, positionGain=10.1, velocityGain=1, force=11.001)
else:
p.setJointMotorControl2(door,1,p.VELOCITY_CONTROL, targetVelocity=1, force=1011)
p.stepSimulation()
time.sleep(1./240.)

11
examples/pybullet/pybullet.c
View File

@@ -1233,20 +1233,21 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double restitution = -1;
double linearDamping = -1;
double angularDamping = -1;
double contactStiffness = -1;
double contactDamping = -1;
double ccdSweptSphereRadius = -1;
int frictionAnchor = -1;
double contactProcessingThreshold = -1;
int activationState = -1;
double jointDamping = -1;
PyObject* localInertiaDiagonalObj = 0;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddii", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &physicsClientId))
{
return NULL;
}
@@ -1300,6 +1301,10 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
b3ChangeDynamicsInfoSetAngularDamping(command, bodyUniqueId, angularDamping);
}
if (jointDamping >= 0)
{
b3ChangeDynamicsInfoSetJointDamping(command, bodyUniqueId, linkIndex, jointDamping);
}
if (restitution >= 0)
{
b3ChangeDynamicsInfoSetRestitution(command, bodyUniqueId, linkIndex, restitution);