Merge branch 'master' of https://github.com/erwincoumans/bullet3

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -4536,7 +4536,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									int linkIndexB = -1;
 
 									int objectIndexB = -1;
-
 									const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
 									if (bodyB)
 									{
@@ -4547,12 +4546,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									{
 										linkIndexB = mblB->m_link;
 										objectIndexB = mblB->m_multiBody->getUserIndex2();
-										if (
-											(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
-											clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
-										{
-											continue;
-										}
 									}
 
 									int objectIndexA = -1;
@@ -4566,30 +4559,55 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									{
 										linkIndexA = mblA->m_link;
 										objectIndexA = mblA->m_multiBody->getUserIndex2();
-										if (
+									}
-											(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
+									btAssert(bodyA || mblA);
-											clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
+
+									//apply the filter, if the user provides it
+									bool swap = false;
+									if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
+									{
+										if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
+										{
+											swap = false;
+										}
+										else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
+										{
+											swap = true;
+										}
+										else
 										{
 											continue;
 										}
 									}
 
-									btAssert(bodyA || mblA);
+									if (swap)
-
-									//apply the filter, if the user provides it
-									if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
 									{
-										if ((clientCmd.m_requestContactPointArguments.m_objectAIndexFilter != objectIndexA) &&
+										std::swap(objectIndexA, objectIndexB);
-											(clientCmd.m_requestContactPointArguments.m_objectAIndexFilter != objectIndexB))
+										std::swap(linkIndexA, linkIndexB);
-											continue;
+										std::swap(bodyA, bodyB);
 									}
 
 									//apply the second object filter, if the user provides it
 									if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
 									{
-										if ((clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexA) &&
+										if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
-											(clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB))
+										{
 											continue;
+										}
+									}
+
+									if (
+										(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
+										clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
+									{
+										continue;
+									}
+
+									if (
+										(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
+										clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
+									{
+										continue;
 									}
 
 									for (int p = 0; p < manifold->getNumContacts(); p++)

examples/pybullet/tensorflow/humanoid_running.py

@@ -50,7 +50,9 @@ dummy.initial_z = None
 def current_relative_position(human, j, lower, upper):
 	#print("j")
 	#print(j)
-	pos, vel, *other = p.getJointState(human, j)
+	temp  = p.getJointState(human, j)
+	pos = temp[0]
+	vel = temp[1]
 	#print("pos")
 	#print(pos)
 	#print("vel")

setup.py

@@ -417,7 +417,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.0.2',
+	version='1.0.3',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',

src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h

@@ -74,11 +74,6 @@ public:
 		if (m_link>=0)
 		{
 			const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
-			if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
-			{
-				if ( link.m_parent == other->m_link)
-					return false;
-			}
 			if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
 			{
 				int parent_of_this = m_link;
@@ -93,16 +88,17 @@ public:
 					}
 				}
 			}
+			else if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
+			{
+				if ( link.m_parent == other->m_link)
+					return false;
+			}
+
 		}
 
 		if (other->m_link>=0)
 		{
 			const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
-			if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
-			{
-				if (otherLink.m_parent == this->m_link)
-					return false;
-			}
 			if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
 			{
 				int parent_of_other = other->m_link;
@@ -115,6 +111,11 @@ public:
 						return false;
 				}
 			}
+			else if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
+			{
+				if (otherLink.m_parent == this->m_link)
+					return false;
+			}
 		}
 		return true;
 	}