bump up pybullet version

examples/ExampleBrowser/CMakeLists.txt

@@ -328,6 +328,7 @@ SET(BulletExampleBrowser_SRCS
   ../MultiBody/InvertedPendulumPDControl.cpp
   ../MultiBody/InvertedPendulumPDControl.h
  ../MultiBody/MultiBodyConstraintFeedback.cpp
+  ../MultiBody/SerialChains.cpp
   ../MultiBody/MultiDofDemo.cpp
   ../MultiBody/MultiDofDemo.h
   ../RigidBody/RigidBodySoftContact.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -29,6 +29,7 @@
 #include "../MultiBody/MultiBodyConstraintFeedback.h"
 #include "../MultiBody/MultiDofDemo.h"
 #include "../MultiBody/InvertedPendulumPDControl.h"
+#include "../MultiBody/SerialChains.h"
 #include "../RigidBody/RigidBodySoftContact.h"
 #include "../VoronoiFracture/VoronoiFractureDemo.h"
 #include "../SoftDemo/SoftDemo.h"
@@ -137,6 +138,7 @@ static ExampleEntry gDefaultExamples[]=
 	ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
 	ExampleEntry(1,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
 	ExampleEntry(1,"MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.",MultiBodySoftContactCreateFunc,0),
+	ExampleEntry(1,"Serial Chains", "Show colliding two serial chains using different constraint solvers.", SerialChainsCreateFunc,0),
 
 	ExampleEntry(0,"Physics Client-Server"),
 	ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pybullet, a PhysicsClient or a UDP/TCP Bridge.",

examples/ExampleBrowser/premake4.lua

@@ -162,6 +162,7 @@ project "App_BulletExampleBrowser"
 		"../Vehicles/*",
 		"../Raycast/*",
 		"../MultiBody/MultiDofDemo.cpp",
+		"../MultiBody/SerialChains.cpp",
 		"../MultiBody/TestJointTorqueSetup.cpp",
 		"../MultiBody/Pendulum.cpp",
 		"../MultiBody/MultiBodySoftContact.cpp",

examples/MultiBody/MultiDofDemo.cpp

@@ -2,8 +2,13 @@
 #include "../OpenGLWindow/SimpleOpenGL3App.h"
 #include "btBulletDynamicsCommon.h"
 
+#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
+#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
+#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
+
 #include "BulletDynamics/Featherstone/btMultiBody.h"
 #include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
 #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
 #include "BulletDynamics/Featherstone/btMultiBodyLink.h"
@@ -40,7 +45,6 @@ public:
 		m_guiHelper->resetCamera(dist,yaw,pitch,targetPos[0],targetPos[1],targetPos[2]);
 	}
 
-
 	btMultiBody* createFeatherstoneMultiBody_testMultiDof(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents, bool spherical = false, bool floating = false);
 	void addColliders_testMultiDof(btMultiBody *pMultiBody, btMultiBodyDynamicsWorld *pWorld, const btVector3 &baseHalfExtents, const btVector3 &linkHalfExtents);
 	void addBoxes_testMultiDof();
@@ -52,6 +56,7 @@ static bool g_floatingBase = false;
 static bool g_firstInit = true;
 static float scaling = 0.4f;
 static float friction = 1.;
+static int g_constraintSolverType = 0;
 #define ARRAY_SIZE_X 5
 #define ARRAY_SIZE_Y 5
 #define ARRAY_SIZE_Z 5
@@ -104,8 +109,37 @@ void	MultiDofDemo::initPhysics()
 
 	m_broadphase = new btDbvtBroadphase();
 
-	//Use the btMultiBodyConstraintSolver for Featherstone btMultiBody support
-	btMultiBodyConstraintSolver* sol = new btMultiBodyConstraintSolver;
+	if (g_constraintSolverType == 4)
+	{
+		g_constraintSolverType = 0;
+		g_floatingBase = !g_floatingBase;
+	}
+
+	btMultiBodyConstraintSolver* sol;
+	btMLCPSolverInterface* mlcp;
+	switch (g_constraintSolverType++)
+	{
+		case 0:
+			sol = new btMultiBodyConstraintSolver;
+			b3Printf("Constraint Solver: Sequential Impulse");
+			break;
+		case 1:
+			mlcp = new btSolveProjectedGaussSeidel();
+			sol = new btMultiBodyMLCPConstraintSolver(mlcp);
+			b3Printf("Constraint Solver: MLCP + PGS");
+			break;
+		case 2:
+			mlcp = new btDantzigSolver();
+			sol = new btMultiBodyMLCPConstraintSolver(mlcp);
+			b3Printf("Constraint Solver: MLCP + Dantzig");
+			break;
+		default:
+			mlcp = new btLemkeSolver();
+			sol = new btMultiBodyMLCPConstraintSolver(mlcp);
+			b3Printf("Constraint Solver: MLCP + Lemke");
+			break;
+	}
+
 	m_solver = sol;
 
 	//use btMultiBodyDynamicsWorld for Featherstone btMultiBody support
@@ -114,6 +148,7 @@ void	MultiDofDemo::initPhysics()
 //	m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
+	m_dynamicsWorld->getSolverInfo().m_globalCfm = 1e-3;
 
 	///create a few basic rigid bodies
 	btVector3 groundHalfExtents(50,50,50);
@@ -135,7 +170,7 @@ void	MultiDofDemo::initPhysics()
 	int numLinks = 5;
 	bool spherical = true;					//set it ot false -to use 1DoF hinges instead of 3DoF sphericals		
 	bool multibodyOnly = false;
-	bool canSleep = true;
+	bool canSleep = false;
 	bool selfCollide = true;
     bool multibodyConstraint = false;
 	btVector3 linkHalfExtents(0.05, 0.37, 0.1);
@@ -144,7 +179,6 @@ void	MultiDofDemo::initPhysics()
 	btMultiBody* mbC = createFeatherstoneMultiBody_testMultiDof(world, numLinks, btVector3(-0.4f, 3.f, 0.f), linkHalfExtents, baseHalfExtents, spherical, g_floatingBase);	
 	//mbC->forceMultiDof();							//if !spherical, you can comment this line to check the 1DoF algorithm		
 
-	g_floatingBase = ! g_floatingBase;
 	mbC->setCanSleep(canSleep);	
 	mbC->setHasSelfCollision(selfCollide);
 	mbC->setUseGyroTerm(gyro);

examples/SharedMemory/b3PluginManager.cpp

@@ -327,7 +327,7 @@ void b3PluginManager::reportNotifications()
 			plugin->m_processNotificationsFunc(&context);
 		}
 	}
-	notifications.clear();
+	notifications.resize(0);
 }
 
 int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArguments* arguments)

setup.py

@@ -453,7 +453,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='2.0.9',
+	version='2.1.1',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

src/BulletDynamics/CMakeLists.txt

@@ -31,15 +31,16 @@ SET(BulletDynamics_SRCS
 	Vehicle/btRaycastVehicle.cpp
 	Vehicle/btWheelInfo.cpp
 	Featherstone/btMultiBody.cpp
+	Featherstone/btMultiBodyConstraint.cpp
 	Featherstone/btMultiBodyConstraintSolver.cpp
 	Featherstone/btMultiBodyDynamicsWorld.cpp
-	Featherstone/btMultiBodyJointLimitConstraint.cpp
-	Featherstone/btMultiBodyConstraint.cpp
-	Featherstone/btMultiBodyPoint2Point.cpp
 	Featherstone/btMultiBodyFixedConstraint.cpp
-	Featherstone/btMultiBodySliderConstraint.cpp
-	Featherstone/btMultiBodyJointMotor.cpp
 	Featherstone/btMultiBodyGearConstraint.cpp
+	Featherstone/btMultiBodyJointLimitConstraint.cpp
+	Featherstone/btMultiBodyJointMotor.cpp
+	Featherstone/btMultiBodyMLCPConstraintSolver.cpp
+	Featherstone/btMultiBodyPoint2Point.cpp
+	Featherstone/btMultiBodySliderConstraint.cpp
 	MLCPSolvers/btDantzigLCP.cpp
 	MLCPSolvers/btMLCPSolver.cpp
 	MLCPSolvers/btLemkeAlgorithm.cpp
@@ -90,19 +91,19 @@ SET(Vehicle_HDRS
 
 SET(Featherstone_HDRS
 	Featherstone/btMultiBody.h
+	Featherstone/btMultiBodyConstraint.h
 	Featherstone/btMultiBodyConstraintSolver.h
 	Featherstone/btMultiBodyDynamicsWorld.h
+	Featherstone/btMultiBodyFixedConstraint.h
+	Featherstone/btMultiBodyGearConstraint.h
+	Featherstone/btMultiBodyJointLimitConstraint.h
+	Featherstone/btMultiBodyJointMotor.h
 	Featherstone/btMultiBodyLink.h
 	Featherstone/btMultiBodyLinkCollider.h
-	Featherstone/btMultiBodySolverConstraint.h
-	Featherstone/btMultiBodyConstraint.h
-	Featherstone/btMultiBodyJointLimitConstraint.h
-	Featherstone/btMultiBodyConstraint.h
+	Featherstone/btMultiBodyMLCPConstraintSolver.h
 	Featherstone/btMultiBodyPoint2Point.h
-	Featherstone/btMultiBodyFixedConstraint.h
 	Featherstone/btMultiBodySliderConstraint.h
-	Featherstone/btMultiBodyJointMotor.h
-	Featherstone/btMultiBodyGearConstraint.h	
+	Featherstone/btMultiBodySolverConstraint.h
 )
 
 SET(MLCPSolvers_HDRS