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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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45
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -4303,6 +4303,51 @@ B3_SHARED_API int b3GetStatusMassMatrix(b3PhysicsClientHandle physClient, b3Shar
return true;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3CollisionFilterCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_COLLISION_FILTER;
command->m_collisionFilterArgs.m_bodyUniqueIdA = -1;
command->m_collisionFilterArgs.m_bodyUniqueIdB = -1;
command->m_collisionFilterArgs.m_linkIndexA = -2;
command->m_collisionFilterArgs.m_linkIndexB = -2;
command->m_collisionFilterArgs.m_enableCollision = 0;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3SetCollisionFilterPair(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA,
int bodyUniqueIdB, int linkIndexA, int linkIndexB, int enableCollision)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_COLLISION_FILTER);
command->m_updateFlags = B3_COLLISION_FILTER_PAIR;
command->m_collisionFilterArgs.m_bodyUniqueIdA = bodyUniqueIdA;
command->m_collisionFilterArgs.m_bodyUniqueIdB = bodyUniqueIdB;
command->m_collisionFilterArgs.m_linkIndexA = linkIndexA;
command->m_collisionFilterArgs.m_linkIndexB = linkIndexB;
command->m_collisionFilterArgs.m_enableCollision = enableCollision;
}
B3_SHARED_API void b3SetCollisionFilterGroupMask(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA,
int linkIndexA, int collisionFilterGroup, int collisionFilterMask)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_COLLISION_FILTER);
command->m_updateFlags = B3_COLLISION_FILTER_GROUP_MASK;
command->m_collisionFilterArgs.m_bodyUniqueIdA = bodyUniqueIdA;
command->m_collisionFilterArgs.m_linkIndexA = linkIndexA;
command->m_collisionFilterArgs.m_collisionFilterGroup = collisionFilterGroup;
command->m_collisionFilterArgs.m_collisionFilterMask = collisionFilterMask;
}
///compute the joint positions to move the end effector to a desired target using inverse kinematics
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseKinematicsCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId)
{