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Merge remote-tracking branch 'bp/master' into pullRequest

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This commit is contained in:
Jie Tan
2017-02-16 15:13:12 -08:00
parent 509b77054a 904a1b5f05
commit 83e5e816f5
48 changed files with 4372 additions and 92 deletions
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25
examples/pybullet/manyspheres.py Normal file
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@@ -0,0 +1,25 @@
import pybullet as p
import time
p.connect(p.GUI)
p.loadURDF("plane.urdf",useMaximalCoordinates=True)
p.loadURDF("tray/traybox.urdf",useMaximalCoordinates=True)
gravXid = p.addUserDebugParameter("gravityX",-10,10,0)
gravYid = p.addUserDebugParameter("gravityY",-10,10,0)
gravZid = p.addUserDebugParameter("gravityZ",-10,10,-10)
p.setPhysicsEngineParameter(numSolverIterations=10)
p.setPhysicsEngineParameter(contactBreakingThreshold=0.001)
for i in range (10):
for j in range (10):
for k in range (5):
ob = p.loadURDF("sphere_1cm.urdf",[0.02*i,0.02*j,0.2+0.02*k],useMaximalCoordinates=True)
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
while True:
gravX = p.readUserDebugParameter(gravXid)
gravY = p.readUserDebugParameter(gravYid)
gravZ = p.readUserDebugParameter(gravZid)
p.setGravity(gravX,gravY,gravZ)
time.sleep(0.01)

13
examples/pybullet/pybullet.c
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@@ -583,14 +583,15 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
double splitImpulsePenetrationThreshold = -1;
int numSubSteps = -1;
int collisionFilterMode = -1;
double contactBreakingThreshold = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "physicsClientId", NULL };
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "contactBreakingThreshold", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
&collisionFilterMode, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidi", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &physicsClientId))
{
return NULL;
}
@@ -610,6 +611,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetNumSolverIterations(command, numSolverIterations);
}
if (collisionFilterMode>=0)
{
b3PhysicsParamSetCollisionFilterMode(command, collisionFilterMode);
@@ -630,6 +632,11 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetSplitImpulsePenetrationThreshold(command, splitImpulsePenetrationThreshold);
}
if (contactBreakingThreshold>=0)
{
b3PhysicsParamSetContactBreakingThreshold(command,contactBreakingThreshold);
}
//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);

26
examples/pybullet/rollPitchYaw.py Normal file
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@@ -0,0 +1,26 @@
import pybullet as p
import time
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
p.connect(p.GUI)
q = p.loadURDF("quadruped/quadruped.urdf",useFixedBase=True)
rollId = p.addUserDebugParameter("roll",-1.5,1.5,0)
pitchId = p.addUserDebugParameter("pitch",-1.5,1.5,0)
yawId = p.addUserDebugParameter("yaw",-1.5,1.5,0)
fwdxId = p.addUserDebugParameter("fwd_x",-1,1,0)
fwdyId = p.addUserDebugParameter("fwd_y",-1,1,0)
fwdzId = p.addUserDebugParameter("fwd_z",-1,1,0)
while True:
roll = p.readUserDebugParameter(rollId)
pitch = p.readUserDebugParameter(pitchId)
yaw = p.readUserDebugParameter(yawId)
x = p.readUserDebugParameter(fwdxId)
y = p.readUserDebugParameter(fwdyId)
z = p.readUserDebugParameter(fwdzId)
orn = p.getQuaternionFromEuler([roll,pitch,yaw])
p.resetBasePositionAndOrientation(q,[x,y,z],orn)
#p.stepSimulation()#not really necessary for this demo, no physics used