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

temporary disable experimental BulletRobotics examples

Browse Source
This commit is contained in:
Erwin Coumans
2019-03-26 15:07:55 -07:00
parent 2ba8c22397
commit 4898887265
13 changed files with 64 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -3,11 +3,6 @@
#include "../BlockSolver/BlockSolverExample.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "EmptyExample.h"
#include "../BulletRobotics/BoxStack.h"
#include "../BulletRobotics/FixJointBoxes.h"
#include "../BulletRobotics/JointLimit.h"
// #include "../BulletRobotics/GraspBox.h"
#include "../BulletRobotics/FixJointBoxes.h"
#include "../RenderingExamples/RenderInstancingDemo.h"
#include "../RenderingExamples/CoordinateSystemDemo.h"
#include "../RenderingExamples/RaytracerSetup.h"
@@ -135,11 +130,6 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", RigidBodySoftContactCreateFunc),
ExampleEntry(0, "Bullet Robotics"),
ExampleEntry(1, "Box Stack", "Create a stack of boxes of large mass ratio.", BoxStackExampleCreateFunc),
ExampleEntry(1, "Joint Limit", "Create three objects joint together", JointLimitCreateFunc),
// ExampleEntry(1, "Grasp Box", "A robot arm of large mass tries to grasp a box of small mass", GraspBoxCreateFunc),
ExampleEntry(1, "FixJoint Boxes", "FixJoint Boxes", FixJointBoxesCreateFunc),
ExampleEntry(0, "MultiBody"),
ExampleEntry(1, "MultiDof", "Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),

8
examples/SharedMemory/BodyJointInfoUtility.h
View File

@@ -21,6 +21,12 @@ inline char* strDup(const char* const str)
template <typename T, typename U>
void addJointInfoFromMultiBodyData(const T* mb, U* bodyJoints, bool verboseOutput)
{
int numDofs = 0;
if (mb->m_baseMass>0)
{
numDofs = 6;
}
if (mb->m_baseName)
{
if (verboseOutput)
@@ -107,7 +113,9 @@ void addJointInfoFromMultiBodyData(const T* mb, U* bodyJoints, bool verboseOutpu
}
qOffset += mb->m_links[link].m_posVarCount;
uOffset += mb->m_links[link].m_dofCount;
numDofs += mb->m_links[link].m_dofCount;
}
bodyJoints->m_numDofs = numDofs;
}
#endif //BODY_JOINT_INFO_UTILITY_H

2
examples/SharedMemory/PhysicsClient.h
View File

@@ -33,6 +33,8 @@ public:
virtual int getNumJoints(int bodyUniqueId) const = 0;
virtual int getNumDofs(int bodyUniqueId) const = 0;
virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const = 0;
virtual int getNumUserConstraints() const = 0;

11
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -2526,6 +2526,12 @@ B3_SHARED_API int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyUniqu
return cl->getNumJoints(bodyUniqueId);
}
B3_SHARED_API int b3GetNumDofs(b3PhysicsClientHandle physClient, int bodyUniqueId)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
return cl->getNumDofs(bodyUniqueId);
}
B3_SHARED_API int b3ComputeDofCount(b3PhysicsClientHandle physClient, int bodyUniqueId)
{
int nj = b3GetNumJoints(physClient, bodyUniqueId);
@@ -4642,8 +4648,9 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3Physi
command->m_calculateJacobianArguments.m_localPosition[0] = localPosition[0];
command->m_calculateJacobianArguments.m_localPosition[1] = localPosition[1];
command->m_calculateJacobianArguments.m_localPosition[2] = localPosition[2];
int numJoints = cl->getNumJoints(bodyUniqueId);
for (int i = 0; i < numJoints; i++)
int numDofs = cl->getNumDofs(bodyUniqueId);
for (int i = 0; i < numDofs; i++)
{
command->m_calculateJacobianArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
command->m_calculateJacobianArguments.m_jointVelocitiesQdot[i] = jointVelocitiesQdot[i];

4
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -118,7 +118,9 @@ extern "C"
///give a unique body index (after loading the body) return the number of joints.
B3_SHARED_API int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyUniqueId);
///give a unique body index (after loading the body) return the number of degrees of freedom (DoF).
B3_SHARED_API int b3GetNumDofs(b3PhysicsClientHandle physClient, int bodyUniqueId);
///compute the number of degrees of freedom for this body.
///Return -1 for unsupported spherical joint, -2 for unsupported planar joint.
B3_SHARED_API int b3ComputeDofCount(b3PhysicsClientHandle physClient, int bodyUniqueId);

11
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -144,6 +144,17 @@ int PhysicsClientSharedMemory::getNumJoints(int bodyUniqueId) const
return 0;
}
int PhysicsClientSharedMemory::getNumDofs(int bodyUniqueId) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
return bodyJoints->m_numDofs;
}
return 0;
}
bool PhysicsClientSharedMemory::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo& info) const
{
BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];

2
examples/SharedMemory/PhysicsClientSharedMemory.h
View File

@@ -45,6 +45,8 @@ public:
virtual int getNumJoints(int bodyUniqueId) const;
virtual int getNumDofs(int bodyUniqueId) const;
virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const;
virtual int getNumUserConstraints() const;

16
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -1275,9 +1275,9 @@ bool PhysicsDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
return false;
}
int PhysicsDirect::getNumJoints(int bodyIndex) const
int PhysicsDirect::getNumJoints(int bodyUniqueId) const
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
@@ -1287,6 +1287,18 @@ int PhysicsDirect::getNumJoints(int bodyIndex) const
return 0;
}
int PhysicsDirect::getNumDofs(int bodyUniqueId) const
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
if (bodyJointsPtr && *bodyJointsPtr)
{
BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
return bodyJoints->m_numDofs;
}
btAssert(0);
return 0;
}
bool PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
{
BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];

4
examples/SharedMemory/PhysicsDirect.h
View File

@@ -61,7 +61,9 @@ public:
virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
virtual int getNumJoints(int bodyIndex) const;
virtual int getNumJoints(int bodyUniqueId) const;
virtual int getNumDofs(int bodyUniqueId) const;
virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;

9
examples/SharedMemory/PhysicsLoopBack.cpp
View File

@@ -107,9 +107,14 @@ bool PhysicsLoopBack::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) con
return m_data->m_physicsClient->getBodyInfo(bodyUniqueId, info);
}
int PhysicsLoopBack::getNumJoints(int bodyIndex) const
int PhysicsLoopBack::getNumJoints(int bodyUniqueId) const
{
return m_data->m_physicsClient->getNumJoints(bodyIndex);
return m_data->m_physicsClient->getNumJoints(bodyUniqueId);
}
int PhysicsLoopBack::getNumDofs(int bodyUniqueId) const
{
return m_data->m_physicsClient->getNumDofs(bodyUniqueId);
}
bool PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const

4
examples/SharedMemory/PhysicsLoopBack.h
View File

@@ -42,7 +42,9 @@ public:
virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
virtual int getNumJoints(int bodyIndex) const;
virtual int getNumJoints(int bodyUniqueId) const;
virtual int getNumDofs(int bodyUniqueId) const;
virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;

2
examples/pybullet/gym/pybullet_envs/agents/utility.py
View File

@@ -149,7 +149,7 @@ def save_config(config, logdir=None):
tf.logging.info(message.format(config.logdir))
tf.gfile.MakeDirs(config.logdir)
config_path = os.path.join(config.logdir, 'config.yaml')
with tf.gfile.FastGFile(config_path, 'w') as file_:
with tf.gfile.GFile(config_path, 'w') as file_:
yaml.dump(config, file_, default_flow_style=False)
else:
message = (

2
examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py
View File

@@ -172,7 +172,7 @@ def save_config(config, logdir=None):
tf.logging.info(message.format(config.logdir))
tf.gfile.MakeDirs(config.logdir)
config_path = os.path.join(config.logdir, 'config.yaml')
with tf.gfile.FastGFile(config_path, 'w') as file_:
with tf.gfile.GFile(config_path, 'w') as file_:
yaml.dump(config, file_, default_flow_style=False)
else:
message = (