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Merge pull request #2501 from erwincoumans/master

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bump up pybullet version, fix old examples
This commit is contained in:
erwincoumans
2019-11-29 09:32:15 -08:00
committed by GitHub
parent 7546541c85 cf67e7af0a
commit 70c064ca0d
6 changed files with 21 additions and 9 deletions
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1
examples/MultiThreading/MultiThreadingExample.cpp
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@@ -29,6 +29,7 @@ void SamplelsMemoryReleaseFunc(void* ptr);
#ifndef _WIN32
#include "b3PosixThreadSupport.h"
b3ThreadSupportInterface* createThreadSupport(int numThreads)
{
b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",

10
examples/MultiThreading/main.cpp
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@@ -22,7 +22,7 @@ subject to the following restrictions:
void SampleThreadFunc(void* userPtr, void* lsMemory);
void* SamplelsMemoryFunc();
void SamplelsMemoryReleaseFunc(void* ptr);
#include <stdio.h>
//#include "BulletMultiThreaded/PlatformDefinitions.h"
@@ -34,6 +34,7 @@ b3ThreadSupportInterface* createThreadSupport(int numThreads)
b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("testThreads",
SampleThreadFunc,
SamplelsMemoryFunc,
SamplelsMemoryReleaseFunc,
numThreads);
b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
@@ -99,6 +100,13 @@ void* SamplelsMemoryFunc()
return new SampleThreadLocalStorage;
}
void SamplelsMemoryReleaseFunc(void* ptr)
{
SampleThreadLocalStorage* p = (SampleThreadLocalStorage*)ptr;
delete p;
}
int main(int argc, char** argv)
{
int numThreads = 8;

2
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -404,7 +404,7 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle
return 0;
}
B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -640,7 +640,7 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);
B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);
B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact);
B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient);
B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings);

5
examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py vendored
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@@ -807,7 +807,10 @@ class HumanoidStablePD(object):
rootPosSim, rootOrnSim = self._pybullet_client.getBasePositionAndOrientation(self._sim_model)
rootPosKin, rootOrnKin = self._pybullet_client.getBasePositionAndOrientation(self._kin_model)
linVelSim, angVelSim = self._pybullet_client.getBaseVelocity(self._sim_model)
linVelKin, angVelKin = self._pybullet_client.getBaseVelocity(self._kin_model)
#don't read the velocities from the kinematic model (they are zero), use the pose interpolator velocity
#see also issue https://github.com/bulletphysics/bullet3/issues/2401
linVelKin = self._poseInterpolator._baseLinVel
angVelKin = self._poseInterpolator._baseAngVel
root_rot_err = self.calcRootRotDiff(rootOrnSim, rootOrnKin)
pose_err += root_rot_w * root_rot_err

2
setup.py
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@@ -491,7 +491,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
setup(
name='pybullet',
version='2.5.7',
version='2.5.8',
description=
'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description=