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

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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
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2
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -37,7 +37,7 @@ public:
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}
virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const { return false;}
virtual void setLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const {}
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const { return 0;}
///this API will likely change, don't override it!