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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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31
examples/pybullet/examples/switchConstraintSolver.py Normal file
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@@ -0,0 +1,31 @@
import pybullet as p
import time
p.connect(p.GUI)
#p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001)
p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_DANTZIG, globalCFM = 0.000001)
#p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001)
p.loadURDF("plane.urdf")
radius = 0.025
distance = 1.86
yaw=135
pitch=-11
targetPos=[0,0,0]
p.setPhysicsEngineParameter(solverResidualThreshold=0.001, numSolverIterations=200)
p.resetDebugVisualizerCamera(distance, yaw,pitch, targetPos)
objectId = -1
for i in range (10):
objectId = p.loadURDF("cube_small.urdf",[1,1,radius+i*2*radius])
p.changeDynamics(objectId,-1,100)
timeStep = 1./240.
p.setGravity(0,0,-10)
while (p.isConnected()):
p.stepSimulation()
time.sleep(timeStep)

24
examples/pybullet/pybullet.c
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@@ -1466,12 +1466,15 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
double solverResidualThreshold = -1;
double contactSlop = -1;
int enableSAT = -1;
int constraintSolverType=-1;
double globalCFM = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "enableSAT", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "enableSAT", "constraintSolverType", "globalCFM", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &physicsClientId))
{
return NULL;
}
@@ -1576,6 +1579,14 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParameterSetEnableSAT(command, enableSAT);
}
if (constraintSolverType>=0)
{
b3PhysicsParameterSetConstraintSolverType(command, constraintSolverType);
}
if (globalCFM>=0)
{
b3PhysicsParamSetDefaultGlobalCFM(command, globalCFM);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
@@ -9639,6 +9650,13 @@ initpybullet(void)
PyModule_AddIntConstant(m, "CONTACT_REPORT_EXISTING", CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS);
PyModule_AddIntConstant(m, "CONTACT_RECOMPUTE_CLOSEST", CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS);
PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_SI",eConstraintSolverLCP_SI);
PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_PGS",eConstraintSolverLCP_PGS);
PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_DANTZIG",eConstraintSolverLCP_DANTZIG);
//PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_LEMKE",eConstraintSolverLCP_LEMKE);
//PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_NNCF",eConstraintSolverLCP_NNCG);
//PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_BLOCK",eConstraintSolverLCP_BLOCK_PGS);
PyModule_AddIntConstant(m, "VR_BUTTON_IS_DOWN", eButtonIsDown);
PyModule_AddIntConstant(m, "VR_BUTTON_WAS_TRIGGERED", eButtonTriggered);
PyModule_AddIntConstant(m, "VR_BUTTON_WAS_RELEASED", eButtonReleased);