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expose choice of contraint solver in PyBullet, with switchConstraintSolver example

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This commit is contained in:
Erwin Coumans
2018-08-23 23:04:17 -07:00
parent d44571a4b3
commit 61b7591b8e
12 changed files with 164 additions and 12 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -620,6 +620,16 @@ B3_SHARED_API int b3PhysicsParameterSetEnableSAT(b3SharedMemoryCommandHandle com
return 0;
}
B3_SHARED_API int b3PhysicsParameterSetConstraintSolverType(b3SharedMemoryCommandHandle commandHandle, int constraintSolverType)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_constraintSolverType = constraintSolverType;
command->m_updateFlags |= SIM_PARAM_CONSTRAINT_SOLVER_TYPE;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -319,7 +319,9 @@ B3_SHARED_API int b3PhysicsParameterSetJointFeedbackMode(b3SharedMemoryCommandHa
B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold);
B3_SHARED_API int b3PhysicsParamSetContactSlop(b3SharedMemoryCommandHandle commandHandle, double contactSlop);
B3_SHARED_API int b3PhysicsParameterSetEnableSAT(b3SharedMemoryCommandHandle commandHandle, int enableSAT);
B3_SHARED_API int b3PhysicsParameterSetConstraintSolverType(b3SharedMemoryCommandHandle commandHandle, int constraintSolverType);

60
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8,6 +8,10 @@
#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
@@ -1599,6 +1603,7 @@ struct PhysicsServerCommandProcessorInternalData
btMultiBodyDynamicsWorld* m_dynamicsWorld;
#endif
int m_constraintSolverType;
SharedMemoryDebugDrawer* m_remoteDebugDrawer;
btAlignedObjectArray<b3ContactPointData> m_cachedContactPoints;
@@ -1657,6 +1662,7 @@ struct PhysicsServerCommandProcessorInternalData
m_solver(0),
m_collisionConfiguration(0),
m_dynamicsWorld(0),
m_constraintSolverType(-1),
m_remoteDebugDrawer(0),
m_stateLoggersUniqueId(0),
m_profileTimingLoggingUid(-1),
@@ -2340,6 +2346,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
{
m_data->m_constraintSolverType=eConstraintSolverLCP_SI;
///collision configuration contains default setup for memory, collision setup
//m_collisionConfiguration->setConvexConvexMultipointIterations();
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -7348,7 +7355,60 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
{
m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex = clientCmd.m_physSimParamArgs.m_enableSAT!=0;
}
if (clientCmd.m_updateFlags&SIM_PARAM_CONSTRAINT_SOLVER_TYPE)
{
//check if the current type is different from requested one
if (m_data->m_constraintSolverType!=clientCmd.m_physSimParamArgs.m_constraintSolverType)
{
m_data->m_constraintSolverType =clientCmd.m_physSimParamArgs.m_constraintSolverType;
btConstraintSolver* oldSolver = m_data->m_dynamicsWorld->getConstraintSolver();
btMultiBodyConstraintSolver* newSolver = 0;
switch (clientCmd.m_physSimParamArgs.m_constraintSolverType)
{
case eConstraintSolverLCP_SI:
{
newSolver = new btMultiBodyConstraintSolver;
b3Printf("PyBullet: Constraint Solver: btMultiBodyConstraintSolver\n");
break;
}
case eConstraintSolverLCP_PGS:
{
btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel();
newSolver = new btMultiBodyMLCPConstraintSolver(mlcp);
b3Printf("PyBullet: Constraint Solver: MLCP + PGS\n");
break;
}
case eConstraintSolverLCP_DANTZIG:
{
btDantzigSolver* mlcp = new btDantzigSolver();
newSolver = new btMultiBodyMLCPConstraintSolver(mlcp);
b3Printf("PyBullet: Constraint Solver: MLCP + Dantzig\n");
break;
}
case eConstraintSolverLCP_BLOCK_PGS:
{
break;
}
default:
{
}
};
if (newSolver)
{
delete oldSolver;
m_data->m_dynamicsWorld->setMultiBodyConstraintSolver(newSolver);
m_data->m_solver = newSolver;
printf("switched solver\n");
}
}
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -467,6 +467,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD = 2097152,
SIM_PARAM_UPDATE_CONTACT_SLOP = 4194304,
SIM_PARAM_ENABLE_SAT = 8388608,
SIM_PARAM_CONSTRAINT_SOLVER_TYPE =16777216,
};
enum EnumLoadSoftBodyUpdateFlags

10
examples/SharedMemory/SharedMemoryPublic.h
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@@ -897,7 +897,17 @@ struct b3PhysicsSimulationParameters
double m_solverResidualThreshold;
double m_contactSlop;
int m_enableSAT;
int m_constraintSolverType;
};
enum eConstraintSolverTypes
{
eConstraintSolverLCP_SI=1,
eConstraintSolverLCP_PGS,
eConstraintSolverLCP_DANTZIG,
eConstraintSolverLCP_LEMKE,
eConstraintSolverLCP_NNCG,
eConstraintSolverLCP_BLOCK_PGS,
};
#endif//SHARED_MEMORY_PUBLIC_H

4
examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
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@@ -25,8 +25,6 @@ B3_SHARED_API int initPlugin_collisionFilterPlugin(struct b3PluginContext* conte
{
CollisionFilterMyClass* obj = new CollisionFilterMyClass();
context->m_userPointer = obj;
printf("hi!\n");
return SHARED_MEMORY_MAGIC_NUMBER;
}
@@ -93,6 +91,4 @@ B3_SHARED_API void exitPlugin_collisionFilterPlugin(struct b3PluginContext* cont
CollisionFilterMyClass* obj = (CollisionFilterMyClass*) context->m_userPointer;
delete obj;
context->m_userPointer = 0;
printf("bye!\n");
}