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reduce stack usage (cause some crashes in low-stack tests)

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fix crashing bug in changeVisualShape
add differential gear version of racecar (only 2 back wheels are powered)
This commit is contained in:
Erwin Coumans
2017-06-20 20:22:14 -07:00
parent 61f27a5c72
commit 71170d6384
7 changed files with 857 additions and 33 deletions
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71
examples/pybullet/examples/racecar_differential.py Normal file
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import pybullet as p
import time
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
p.connect(p.GUI)
p.resetSimulation()
p.setGravity(0,0,-10)
p.setPhysicsEngineParameter(numSolverIterations=1000)
useRealTimeSim = 1
#for video recording (works best on Mac and Linux, not well on Windows)
#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
p.setRealTimeSimulation(useRealTimeSim) # either this
#p.loadURDF("plane.urdf")
p.loadSDF("stadium.sdf")
car = p.loadURDF("racecar/racecar_differential.urdf")#, [0,0,2],useFixedBase=True)
for i in range (p.getNumJoints(car)):
print (p.getJointInfo(car,i))
for wheel in range(p.getNumJoints(car)):
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
p.getJointInfo(car,wheel)
wheels = [8,15]
print("----------------")
#p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=1, maxForce=10000)
c = p.createConstraint(car,10,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,9,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=1, maxForce=10000)
c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
steering = [0,2]
targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-50,50,0)
maxForceSlider = p.addUserDebugParameter("maxForce",0,50,20)
steeringSlider = p.addUserDebugParameter("steering",-1,1,0)
while (True):
maxForce = p.readUserDebugParameter(maxForceSlider)
targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
steeringAngle = p.readUserDebugParameter(steeringSlider)
#print(targetVelocity)
for wheel in wheels:
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=maxForce)
for steer in steering:
p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=-steeringAngle)
steering
if (useRealTimeSim==0):
p.stepSimulation()
time.sleep(0.01)