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

PyBullet: add option to cache graphics shapes for URDF files, handy for benchmarks with many duplicate robots

Browse Source 
See https://github.com/erwincoumans/pybullet_robots ANYmal.py for an example.
PyBullet: Expose p.setPhysicsEngineParameter(solverResidualThreshold=1e-2) (b3PhysicsParamSetSolverResidualThreshold), increases solver performance a lot
PyBullet: Expose p.setPhysicsEngineParameter(contactSlop) Set it to zero, to avoid issues with restitution.
PyBullet: Expose isNumpyEnabled, return True is PyBullet was compiled with NUMPY support for 'getCameraImage'.
PyBullet: Expose p.ChangeDynamics(objectUid, linkIndex, contactProcessingThreshold), to avoid issues of speculative/predictive contacts with restitution.
See also http://twvideo01.ubm-us.net/o1/vault/gdc2012/slides/Programming%20Track/Vincent_ROBERT_Track_ADifferentApproach.pdf
This commit is contained in:
Erwin Coumans
2018-05-23 13:26:00 +10:00
parent f5952a73e7
commit 77c332bd88
12 changed files with 189 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -1302,6 +1302,11 @@ bool BulletURDFImporter::getLinkColor2(int linkIndex, UrdfMaterialColor& matCol)
return false;
}
void BulletURDFImporter::setLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const
{
m_data->m_linkColors.insert(linkIndex, matCol);
}
bool BulletURDFImporter::getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const
{
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdflinkIndex);