Merge remote-tracking branch 'origin/physx' into physx_clean

examples/pybullet/examples/otherPhysicsEngine.py

@@ -1,21 +1,64 @@
 import pybullet as p
+import pybullet_data as pd
 import time
 import math
 
 usePhysX = True
+useMaximalCoordinates = True
 if usePhysX:
-  p.connect(p.PhysX)
+  p.connect(p.PhysX,options="--numCores=8 --solver=pgs")
   p.loadPlugin("eglRendererPlugin")
 else:
   p.connect(p.GUI)
 
-p.loadURDF("plane.urdf")
+p.setPhysicsEngineParameter(fixedTimeStep=1./240.,numSolverIterations=4, minimumSolverIslandSize=1024)
+p.setPhysicsEngineParameter(contactBreakingThreshold=0.01)
 
-for i in range (10):
-  sphere = p.loadURDF("marble_cube.urdf",[0,-1,1+i*1], useMaximalCoordinates=False)
-p.changeDynamics(sphere ,-1, mass=1000)
+p.setAdditionalSearchPath(pd.getDataPath())
+#Always make ground plane maximal coordinates, to avoid performance drop in PhysX
+#See https://github.com/NVIDIAGameWorks/PhysX/issues/71
 
-door = p.loadURDF("door.urdf",[0,0,1])
+p.loadURDF("plane.urdf", useMaximalCoordinates=True)#useMaximalCoordinates)
+p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"physx_create_dominoes.json")
+jran = 50
+iran = 100
+
+num=64
+radius=0.1
+numDominoes=0
+
+for i in range (int(num*50)):
+  num=(radius*2*math.pi)/0.08
+  radius += 0.05/float(num)
+  orn = p.getQuaternionFromEuler([0,0,0.5*math.pi+math.pi*2*i/float(num)])
+  pos = [radius*math.cos(2*math.pi*(i/float(num))),radius*math.sin(2*math.pi*(i/float(num))), 0.03]
+  sphere = p.loadURDF("domino/domino.urdf",pos, orn, useMaximalCoordinates=useMaximalCoordinates)
+  numDominoes+=1
+  
+pos=[pos[0],pos[1],pos[2]+0.3]
+orn = p.getQuaternionFromEuler([0,0,-math.pi/4.])
+sphere = p.loadURDF("domino/domino.urdf",pos, orn, useMaximalCoordinates=useMaximalCoordinates)
+
+print("numDominoes=",numDominoes)
+
+
+#for j in range (20):
+#    for i in range (100):
+#        if (i<99):
+#          sphere = p.loadURDF("domino/domino.urdf",[i*0.04,1+j*.25,0.03], useMaximalCoordinates=useMaximalCoordinates)
+#        else:
+#          orn = p.getQuaternionFromEuler([0,-3.14*0.24,0])
+#          sphere = p.loadURDF("domino/domino.urdf",[(i-1)*0.04,1+j*.25,0.03], orn, useMaximalCoordinates=useMaximalCoordinates)
+    
+    
+print("loaded!")
+
+
+#p.changeDynamics(sphere ,-1, mass=1000)
+
+door = p.loadURDF("door.urdf",[0,0,-11])
 p.changeDynamics(door ,1, linearDamping=0, angularDamping=0, jointDamping=0, mass=1)
 print("numJoints = ", p.getNumJoints(door))
 
@@ -31,8 +74,13 @@ prevTime = time.time()
 
 angle = math.pi*0.5
 
+count=0
 while (1):
-  
+  count+=1
+  if (count==12):
+      p.stopStateLogging(logId)
+      p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+
   curTime = time.time()
   
   diff = curTime - prevTime
@@ -45,5 +93,7 @@ while (1):
     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)
+  #contacts = p.getContactPoints()
+  #print("contacts=",contacts)
   p.stepSimulation()
-  time.sleep(1./240.)
+  #time.sleep(1./240.)

examples/pybullet/premake4.lua

@@ -223,12 +223,10 @@ if not _OPTIONS["no-enet"] then
 				"../../examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp",
 				"../../examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h",
 				"../../examples/SharedMemory/physx/PhysXC_API.cpp",
-				"../../examples/SharedMemory/physx/PhysXClient.cpp",
 				"../../examples/SharedMemory/physx/PhysXServerCommandProcessor.cpp",
 				"../../examples/SharedMemory/physx/PhysXUrdfImporter.cpp",
 				"../../examples/SharedMemory/physx/URDF2PhysX.cpp",
 				"../../examples/SharedMemory/physx/PhysXC_API.h",
-				"../../examples/SharedMemory/physx/PhysXClient.h",
 				"../../examples/SharedMemory/physx/PhysXServerCommandProcessor.h",
 				"../../examples/SharedMemory/physx/PhysXUrdfImporter.h",
 				"../../examples/SharedMemory/physx/URDF2PhysX.h",

examples/pybullet/pybullet.c

@@ -456,7 +456,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 #ifdef BT_ENABLE_PHYSX
 			case eCONNECT_PHYSX:
 			{
-				sm = b3ConnectPhysX();
+				sm = b3ConnectPhysX(argc, argv);
 				break;
 			}
 #endif