Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example.

Browse Source 
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
2019-02-12 10:36:01 -08:00
parent a94a24959f
commit 85ee4c2934
10 changed files with 307 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

56
examples/pybullet/pybullet.c
View File

@@ -1501,9 +1501,32 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int minimumSolverIslandSize = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching", "restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "enableSAT", "constraintSolverType", "globalCFM", "minimumSolverIslandSize", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep",
"numSolverIterations",
"useSplitImpulse",
"splitImpulsePenetrationThreshold",
"numSubSteps",
"collisionFilterMode",
"contactBreakingThreshold",
"maxNumCmdPer1ms",
"enableFileCaching",
"restitutionVelocityThreshold",
"erp",
"contactERP",
"frictionERP",
"enableConeFriction",
"deterministicOverlappingPairs",
"allowedCcdPenetration",
"jointFeedbackMode",
"solverResidualThreshold",
"contactSlop",
"enableSAT",
"constraintSolverType",
"globalCFM",
"minimumSolverIslandSize",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiiddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId))
{
return NULL;
@@ -7656,18 +7679,19 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
PyObject* linkJointAxisObj = 0;
PyObject* linkInertialFramePositionObj = 0;
PyObject* linkInertialFrameOrientationObj = 0;
PyObject* objBatchPositions = 0;
static char* kwlist[] = {
"baseMass", "baseCollisionShapeIndex", "baseVisualShapeIndex", "basePosition", "baseOrientation",
"baseInertialFramePosition", "baseInertialFrameOrientation", "linkMasses", "linkCollisionShapeIndices",
"linkVisualShapeIndices", "linkPositions", "linkOrientations", "linkInertialFramePositions", "linkInertialFrameOrientations", "linkParentIndices",
"linkJointTypes", "linkJointAxis", "useMaximalCoordinates", "flags", "physicsClientId", NULL};
"linkJointTypes", "linkJointAxis", "useMaximalCoordinates", "flags", "batchPositions", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOiii", kwlist,
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOiiOi", kwlist,
&baseMass, &baseCollisionShapeIndex, &baseVisualShapeIndex, &basePosObj, &baseOrnObj,
&baseInertialFramePositionObj, &baseInertialFrameOrientationObj, &linkMassesObj, &linkCollisionShapeIndicesObj,
&linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj, &linkInertialFramePositionObj, &linkInertialFrameOrientationObj, &linkParentIndicesObj,
&linkJointTypesObj, &linkJointAxisObj, &useMaximalCoordinates, &flags, &physicsClientId))
&linkJointTypesObj, &linkJointAxisObj, &useMaximalCoordinates, &flags, &objBatchPositions, &physicsClientId))
{
return NULL;
}
@@ -7690,6 +7714,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
int numLinkJoinAxis = linkJointAxisObj ? PySequence_Size(linkJointAxisObj) : 0;
int numLinkInertialFramePositions = linkInertialFramePositionObj ? PySequence_Size(linkInertialFramePositionObj) : 0;
int numLinkInertialFrameOrientations = linkInertialFrameOrientationObj ? PySequence_Size(linkInertialFrameOrientationObj) : 0;
int numBatchPositions = objBatchPositions ? PySequence_Size(objBatchPositions) : 0;
PyObject* seqLinkMasses = linkMassesObj ? PySequence_Fast(linkMassesObj, "expected a sequence") : 0;
PyObject* seqLinkCollisionShapes = linkCollisionShapeIndicesObj ? PySequence_Fast(linkCollisionShapeIndicesObj, "expected a sequence") : 0;
@@ -7702,6 +7727,8 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
PyObject* seqLinkInertialFramePositions = linkInertialFramePositionObj ? PySequence_Fast(linkInertialFramePositionObj, "expected a sequence") : 0;
PyObject* seqLinkInertialFrameOrientations = linkInertialFrameOrientationObj ? PySequence_Fast(linkInertialFrameOrientationObj, "expected a sequence") : 0;
PyObject* seqBatchPositions = objBatchPositions ? PySequence_Fast(objBatchPositions, "expected a sequence") : 0;
if ((numLinkMasses == numLinkCollisionShapes) &&
(numLinkMasses == numLinkVisualShapes) &&
(numLinkMasses == numLinkPositions) &&
@@ -7728,6 +7755,18 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
baseIndex = b3CreateMultiBodyBase(commandHandle, baseMass, baseCollisionShapeIndex, baseVisualShapeIndex, basePosition, baseOrientation, baseInertialFramePosition, baseInertialFrameOrientation);
if (numBatchPositions > 0)
{
double* batchPositions = malloc(sizeof(double) * 3 * numBatchPositions);
for (i = 0; i < numBatchPositions; i++)
{
pybullet_internalGetVector3FromSequence(seqBatchPositions, i, &batchPositions[3*i]);
}
b3CreateMultiBodySetBatchPositions(sm, commandHandle, batchPositions, numBatchPositions);
free(batchPositions);
}
for (i = 0; i < numLinkMasses; i++)
{
double linkMass = pybullet_internalGetFloatFromSequence(seqLinkMasses, i);
@@ -7742,7 +7781,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
int linkJointType;
pybullet_internalGetVector3FromSequence(seqLinkInertialFramePositions, i, linkInertialFramePosition);
pybullet_internalGetVector4FromSequence(linkInertialFrameOrientationObj, i, linkInertialFrameOrientation);
pybullet_internalGetVector4FromSequence(seqLinkInertialFrameOrientations, i, linkInertialFrameOrientation);
pybullet_internalGetVector3FromSequence(seqLinkPositions, i, linkPosition);
pybullet_internalGetVector4FromSequence(seqLinkOrientations, i, linkOrientation);
pybullet_internalGetVector3FromSequence(seqLinkJoinAxis, i, linkJointAxis);
@@ -7782,6 +7821,8 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
Py_DECREF(seqLinkInertialFramePositions);
if (seqLinkInertialFrameOrientations)
Py_DECREF(seqLinkInertialFrameOrientations);
if (seqBatchPositions)
Py_DECREF(seqBatchPositions);
if (useMaximalCoordinates > 0)
{
@@ -7822,7 +7863,8 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
Py_DECREF(seqLinkInertialFramePositions);
if (seqLinkInertialFrameOrientations)
Py_DECREF(seqLinkInertialFrameOrientations);
if (seqBatchPositions)
Py_DECREF(seqBatchPositions);
PyErr_SetString(SpamError, "All link arrays need to be same size.");
return NULL;
}