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

Merge pull request #2357 from fuchuyuan/setWarmStartFactor

Browse Source 
API and pybullet bindings for setting warmstarting factor
This commit is contained in:
erwincoumans
2019-08-07 17:34:58 -07:00
committed by GitHub
parent cc7a450a3b 2e64b27a31
commit 666e1a8bad
6 changed files with 40 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -668,6 +668,15 @@ B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHand
return 0;
}
B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_warmStartingFactor = warmStartingFactor;
command->m_updateFlags |= SIM_PARAM_UPDATE_WARM_STARTING_FACTOR;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

1
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -338,6 +338,7 @@ extern "C"
B3_SHARED_API int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);
B3_SHARED_API int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
B3_SHARED_API int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -9070,6 +9070,10 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
m_data->m_dynamicsWorld->getSolverInfo().m_reportSolverAnalytics = clientCmd.m_physSimParamArgs.m_reportSolverAnalytics;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_WARM_STARTING_FACTOR)
{
m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = clientCmd.m_physSimParamArgs.m_warmStartingFactor;
}
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
return hasStatus;

1
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -482,6 +482,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_CONSTRAINT_SOLVER_TYPE = 1 << 24,
SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 1 << 25,
SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS = 1 << 26,
SIM_PARAM_UPDATE_WARM_STARTING_FACTOR = 1 << 27,
};

4
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -7,7 +7,8 @@
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 2019060190
#define SHARED_MEMORY_MAGIC_NUMBER 201908050
//#define SHARED_MEMORY_MAGIC_NUMBER 2019060190
//#define SHARED_MEMORY_MAGIC_NUMBER 201904030
//#define SHARED_MEMORY_MAGIC_NUMBER 201902120
//#define SHARED_MEMORY_MAGIC_NUMBER 201811260
@@ -935,6 +936,7 @@ struct b3PhysicsSimulationParameters
double m_gravityAcceleration[3];
int m_numSimulationSubSteps;
int m_numSolverIterations;
double m_warmStartingFactor;
int m_useRealTimeSimulation;
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;

28
examples/pybullet/pybullet.c
View File

@@ -336,19 +336,19 @@ static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObjec
struct b3ForwardDynamicsAnalyticsArgs analyticsData;
int numIslands = 0;
int i;
PyObject* pyAnalyticsData = PyTuple_New(numIslands);
PyObject* val = 0;
numIslands = b3GetStatusForwardDynamicsAnalyticsData(statusHandle, &analyticsData);
PyObject* pyAnalyticsData = PyTuple_New(numIslands);
for (i=0;i<numIslands;i++)
{
int numFields = 4;
PyObject* pyIslandData = PyTuple_New(numFields);
PyTuple_SetItem(pyIslandData, 0, PyLong_FromLong(analyticsData.m_islandData[i].m_islandId));
PyTuple_SetItem(pyIslandData, 1, PyLong_FromLong(analyticsData.m_islandData[i].m_numBodies));
PyTuple_SetItem(pyIslandData, 2, PyLong_FromLong(analyticsData.m_islandData[i].m_numIterationsUsed));
PyTuple_SetItem(pyIslandData, 3, PyFloat_FromDouble(analyticsData.m_islandData[i].m_remainingLeastSquaresResidual));
PyTuple_SetItem(pyAnalyticsData, i, pyIslandData);
val = Py_BuildValue("{s:i, s:i, s:i, s:d}",
"islandId", analyticsData.m_islandData[i].m_islandId,
"numBodies", analyticsData.m_islandData[i].m_numBodies,
"numIterationsUsed", analyticsData.m_islandData[i].m_numIterationsUsed,
"remainingResidual", analyticsData.m_islandData[i].m_remainingLeastSquaresResidual);
PyTuple_SetItem(pyAnalyticsData, i, val);
}
return pyAnalyticsData;
@@ -1577,6 +1577,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int minimumSolverIslandSize = -1;
int reportSolverAnalytics = -1;
double warmStartingFactor = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep",
@@ -1603,11 +1606,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
"globalCFM",
"minimumSolverIslandSize",
"reportSolverAnalytics",
"warmStartingFactor",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize,
&reportSolverAnalytics, &physicsClientId))
&reportSolverAnalytics, &warmStartingFactor, &physicsClientId))
{
return NULL;
}
@@ -1728,6 +1732,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetSolverAnalytics(command, reportSolverAnalytics);
}
if (warmStartingFactor >= 0)
{
b3PhysicsParamSetWarmStartingFactor(command, warmStartingFactor);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}