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PyBullet / BulletRobotics:

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Implement collisionFilterPlugin, use setCollisionFilterPair to enable or disable collision detection between specific pairs of objects.
Also, expose setCollisionFilterGroupMask as PyBullet API and in urdf using the tag <collision group="1" mask="2"/>.
See examples/pybullet/examples/collisionFilter.py for an example.
PyBullet default: Lower the warmstarting factor, for maximal coordinates rigid bodies for more stable simulation.
Add btCollisionWorld::refreshBroadphaseProxy to easier recreate the broadphase proxy without adding/removing objects to the world.
This commit is contained in:
erwincoumans
2018-09-12 19:30:49 -07:00
parent bf3399d0e3
commit 9553892770
20 changed files with 675 additions and 89 deletions
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26
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -1405,7 +1405,31 @@ int BulletURDFImporter::getAllocatedTexture(int index) const
return m_data->m_allocatedTextures[index];
}
int BulletURDFImporter::getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const
{
int result = 0;
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
btAssert(linkPtr);
if (linkPtr)
{
UrdfLink* link = *linkPtr;
for (int v=0;v<link->m_collisionArray.size();v++)
{
const UrdfCollision& col = link->m_collisionArray[v];
if (col.m_flags & URDF_HAS_COLLISION_GROUP)
{
colGroup = col.m_collisionGroup;
result |= URDF_HAS_COLLISION_GROUP;
}
if (col.m_flags & URDF_HAS_COLLISION_MASK)
{
colMask = col.m_collisionMask;
result |= URDF_HAS_COLLISION_MASK;
}
}
}
return result;
}
class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
{

4
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -63,7 +63,7 @@ public:
virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
virtual void getMassAndInertia2(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame, int flags) const;
virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
@@ -81,6 +81,8 @@ public:
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const;
virtual int getNumAllocatedCollisionShapes() const;
virtual class btCollisionShape* getAllocatedCollisionShape(int index);

18
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -571,6 +571,24 @@ bool UrdfParser::parseCollision(UrdfCollision& collision, XMLElement* config, Er
return false;
}
{
const char* group_char = config->Attribute("group");
if (group_char)
{
collision.m_flags |= URDF_HAS_COLLISION_GROUP;
collision.m_collisionGroup = urdfLexicalCast<int>(group_char);
}
}
{
const char* mask_char = config->Attribute("mask");
if (mask_char)
{
collision.m_flags |= URDF_HAS_COLLISION_MASK;
collision.m_collisionMask = urdfLexicalCast<int>(mask_char);
}
}
const char *name_char = config->Attribute("name");
if (name_char)