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Merge pull request #1716 from erwincoumans/master

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fix fixed constraint between btMultiBody and btRigidBody, fix minitaur examples when ran from pip version
This commit is contained in:
erwincoumans
2018-05-30 12:02:34 +10:00
committed by GitHub
parent fc9a2f88ef 11d8f069f0
commit 851459dbfe
6 changed files with 21 additions and 27 deletions
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2
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_reactive_env_example.py
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@@ -9,7 +9,7 @@ import time
import tensorflow as tf
from pybullet_envs.minitaur.agents.scripts import utility
import pybullet_data
import simple_ppo_agent
from pybullet_envs.minitaur.envs import simple_ppo_agent
flags = tf.app.flags
FLAGS = tf.app.flags.FLAGS

2
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_trotting_env_example.py
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@@ -9,7 +9,7 @@ import time
import tensorflow as tf
from pybullet_envs.minitaur.agents.scripts import utility
import pybullet_data
import simple_ppo_agent
from pybullet_envs.minitaur.envs import simple_ppo_agent
flags = tf.app.flags
FLAGS = tf.app.flags.FLAGS

7
src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
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@@ -20,11 +20,12 @@ subject to the following restrictions:
#include <stdio.h>
#ifdef BT_DEBUG_COLLISION_PAIRS
int gOverlappingSimplePairs = 0;
int gRemoveSimplePairs =0;
int gAddedSimplePairs =0;
int gFindSimplePairs =0;
#endif //BT_DEBUG_COLLISION_PAIRS
@@ -61,7 +62,9 @@ void btHashedSimplePairCache::removeAllPairs()
btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB)
{
#ifdef BT_DEBUG_COLLISION_PAIRS
gFindSimplePairs++;
#endif
/*if (indexA > indexB)
@@ -172,7 +175,9 @@ btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB)
void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB)
{
#ifdef BT_DEBUG_COLLISION_PAIRS
gRemoveSimplePairs++;
#endif
/*if (indexA > indexB)

6
src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
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@@ -43,12 +43,12 @@ struct btSimplePair
typedef btAlignedObjectArray<btSimplePair> btSimplePairArray;
#ifdef BT_DEBUG_COLLISION_PAIRS
extern int gOverlappingSimplePairs;
extern int gRemoveSimplePairs;
extern int gAddedSimplePairs;
extern int gFindSimplePairs;
#endif //BT_DEBUG_COLLISION_PAIRS
@@ -75,7 +75,9 @@ public:
// no new pair is created and the old one is returned.
virtual btSimplePair* addOverlappingPair(int indexA,int indexB)
{
#ifdef BT_DEBUG_COLLISION_PAIRS
gAddedSimplePairs++;
#endif
return internalAddPair(indexA,indexB);
}

10
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@@ -253,7 +253,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
{
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
if (angConstraint) {
denom0 = rb0->getInvMass() + constraintNormalAng.dot(vec);
denom0 = constraintNormalAng.dot(solverConstraint.m_angularComponentA);
}
else {
denom0 = rb0->getInvMass() + constraintNormalLin.dot(vec);
@@ -277,7 +277,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
{
vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
if (angConstraint) {
denom1 = rb1->getInvMass() + constraintNormalAng.dot(vec);
denom1 = constraintNormalAng.dot(-solverConstraint.m_angularComponentB);
}
else {
denom1 = rb1->getInvMass() + constraintNormalLin.dot(vec);
@@ -315,7 +315,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
}
else if(rb0)
{
rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1);
rel_vel += rb0->getLinearVelocity().dot(solverConstraint.m_contactNormal1);
rel_vel += rb0->getAngularVelocity().dot(solverConstraint.m_relpos1CrossNormal);
}
if (multiBodyB)
{
@@ -327,7 +328,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
}
else if(rb1)
{
rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2);
rel_vel += rb1->getLinearVelocity().dot(solverConstraint.m_contactNormal2);
rel_vel += rb1->getAngularVelocity().dot(solverConstraint.m_relpos2CrossNormal);
}
solverConstraint.m_friction = 0.f;//cp.m_combinedFriction;

21
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -246,7 +246,7 @@ btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const bt
{
c.m_appliedImpulse = sum;
}
if (c.m_multiBodyA)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA);
@@ -1487,27 +1487,12 @@ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolv
if (c.m_multiBodyA)
{
if(c.m_multiBodyA->isMultiDof())
{
c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
}
else
{
c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
}
c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
}
if (c.m_multiBodyB)
{
if(c.m_multiBodyB->isMultiDof())
{
c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
}
else
{
c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
}
c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
}
#endif