allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example.
expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals. allow a maximum of 128k objects fix meshScale for PyBullet.createCollisionShape for custom mesh expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
This commit is contained in:
erwincoumans
150
examples/pybullet/examples/createMultiBodyBatch.py
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150
examples/pybullet/examples/createMultiBodyBatch.py
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import pybullet as p
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import time
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import math
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cid = p.connect(p.SHARED_MEMORY)
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if (cid<0):
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p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=16000")
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p.setPhysicsEngineParameter(numSolverIterations=4, minimumSolverIslandSize=1024)
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p.setTimeStep(1./120.)
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logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
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#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
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p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
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#disable rendering during creation.
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p.setPhysicsEngineParameter(contactBreakingThreshold=0.04)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
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p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
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#disable tinyrenderer, software (CPU) renderer, we don't use it here
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p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
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shift = [0,-0.02,0]
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meshScale=[0.1,0.1,0.1]
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vertices=[
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[-1.000000,-1.000000,1.000000],
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[1.000000,-1.000000,1.000000],
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[1.000000,1.000000,1.000000],
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[-1.000000,1.000000,1.000000],
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[-1.000000,-1.000000,-1.000000],
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[1.000000,-1.000000,-1.000000],
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[1.000000,1.000000,-1.000000],
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[-1.000000,1.000000,-1.000000],
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[-1.000000,-1.000000,-1.000000],
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[-1.000000,1.000000,-1.000000],
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[-1.000000,1.000000,1.000000],
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[-1.000000,-1.000000,1.000000],
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[1.000000,-1.000000,-1.000000],
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[1.000000,1.000000,-1.000000],
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[1.000000,1.000000,1.000000],
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[1.000000,-1.000000,1.000000],
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[-1.000000,-1.000000,-1.000000],
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[-1.000000,-1.000000,1.000000],
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[1.000000,-1.000000,1.000000],
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[1.000000,-1.000000,-1.000000],
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[-1.000000,1.000000,-1.000000],
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[-1.000000,1.000000,1.000000],
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[1.000000,1.000000,1.000000],
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[1.000000,1.000000,-1.000000]
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]
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normals=[
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[0.000000,0.000000,1.000000],
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[0.000000,0.000000,1.000000],
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[0.000000,0.000000,1.000000],
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[0.000000,0.000000,1.000000],
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[0.000000,0.000000,-1.000000],
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[0.000000,0.000000,-1.000000],
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[0.000000,0.000000,-1.000000],
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[0.000000,0.000000,-1.000000],
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[-1.000000,0.000000,0.000000],
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[-1.000000,0.000000,0.000000],
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[-1.000000,0.000000,0.000000],
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[-1.000000,0.000000,0.000000],
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[1.000000,0.000000,0.000000],
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[1.000000,0.000000,0.000000],
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[1.000000,0.000000,0.000000],
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[1.000000,0.000000,0.000000],
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[0.000000,-1.000000,0.000000],
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[0.000000,-1.000000,0.000000],
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[0.000000,-1.000000,0.000000],
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[0.000000,-1.000000,0.000000],
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[0.000000,1.000000,0.000000],
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[0.000000,1.000000,0.000000],
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[0.000000,1.000000,0.000000],
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[0.000000,1.000000,0.000000]
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]
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uvs=[
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[0.750000,0.250000],
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[1.000000,0.250000],
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[1.000000,0.000000],
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[0.750000,0.000000],
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[0.500000,0.250000],
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[0.250000,0.250000],
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[0.250000,0.000000],
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[0.500000,0.000000],
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[0.500000,0.000000],
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[0.750000,0.000000],
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[0.750000,0.250000],
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[0.500000,0.250000],
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[0.250000,0.500000],
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[0.250000,0.250000],
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[0.000000,0.250000],
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[0.000000,0.500000],
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[0.250000,0.500000],
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[0.250000,0.250000],
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[0.500000,0.250000],
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[0.500000,0.500000],
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[0.000000,0.000000],
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[0.000000,0.250000],
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[0.250000,0.250000],
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[0.250000,0.000000]
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]
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indices=[ 0, 1, 2, 0, 2, 3, #//ground face
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6, 5, 4, 7, 6, 4, #//top face
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10, 9, 8, 11, 10, 8,
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12, 13, 14, 12, 14, 15,
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18, 17, 16, 19, 18, 16,
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20, 21, 22, 20, 22, 23]
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#p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
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#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
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visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale, vertices=vertices, indices=indices, uvs=uvs, normals=normals)
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#visualShapeId = p.createVisualShape(shapeType=p.GEOM_BOX,rgbaColor=[1,1,1,1], halfExtents=[0.5,0.5,0.5],specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=[1,1,1], vertices=vertices, indices=indices)
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#visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale, fileName="duck.obj")
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collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_BOX, halfExtents=meshScale)#MESH, vertices=vertices, collisionFramePosition=shift,meshScale=meshScale)
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texUid = p.loadTexture("tex256.png")
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batchPositions=[]
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for x in range (33):
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for y in range (34):
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for z in range (4):
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batchPositions.append([x*meshScale[0]*5.5,y*meshScale[1]*5.5,(0.5+z)*meshScale[2]*2.5])
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bodyUid = p.createMultiBody(baseMass=1,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition =[0,0,2], batchPositions=batchPositions,useMaximalCoordinates=True)
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p.changeVisualShape(bodyUid,-1, textureUniqueId = texUid)
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#p.syncBodyInfo()
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#print("numBodies=",p.getNumBodies())
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p.stopStateLogging(logId)
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p.setGravity(0,0,-10)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
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colors = [[1,0,0,1],[0,1,0,1],[0,0,1,1],[1,1,1,1]]
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currentColor = 0
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while (1):
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p.stepSimulation()
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#time.sleep(1./120.)
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#p.getCameraImage(320,200)
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