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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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41
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1484,6 +1484,7 @@ struct SaveStateData
btSerializer* m_serializer;
};
struct PhysicsServerCommandProcessorInternalData
{
///handle management
@@ -1581,6 +1582,7 @@ struct PhysicsServerCommandProcessorInternalData
#endif
b3HashMap<b3HashString, char*> m_profileEvents;
b3HashMap<b3HashString, UrdfVisualShapeCache> m_cachedVUrdfisualShapes;
PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
:m_pluginManager(proc),
@@ -2618,7 +2620,22 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
u2b.getRootTransformInWorld(rootTrans);
//CUF_RESERVED is a temporary flag, for backward compatibility purposes
flags |= CUF_RESERVED;
ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
if (flags & CUF_ENABLE_CACHED_GRAPHICS_SHAPES)
{
{
UrdfVisualShapeCache* tmpPtr = m_data->m_cachedVUrdfisualShapes[fileName];
if (tmpPtr==0)
{
m_data->m_cachedVUrdfisualShapes.insert(fileName, UrdfVisualShapeCache());
}
}
UrdfVisualShapeCache* cachedVisualShapesPtr = m_data->m_cachedVUrdfisualShapes[fileName];
ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags, *cachedVisualShapesPtr);
} else
{
ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags);
}
@@ -6483,6 +6500,11 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD)
{
body->m_rigidBody->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS)
{
body->m_rigidBody->setCcdSweptSphereRadius(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius);
@@ -6696,11 +6718,24 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
{
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD)
{
m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = clientCmd.m_physSimParamArgs.m_solverResidualThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD)
{
gContactBreakingThreshold = clientCmd.m_physSimParamArgs.m_contactBreakingThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CONTACT_SLOP)
{
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = clientCmd.m_physSimParamArgs.m_contactSlop;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;
@@ -9714,6 +9749,8 @@ void PhysicsServerCommandProcessor::resetSimulation()
{
//clean up all data
m_data->m_cachedVUrdfisualShapes.clear();
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
if (m_data && m_data->m_dynamicsWorld)
{