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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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50
examples/SharedMemory/b3PluginManager.cpp
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@@ -47,6 +47,7 @@ struct b3Plugin
PFN_TICK m_processClientCommandsFunc;
PFN_GET_RENDER_INTERFACE m_getRendererFunc;
PFN_GET_COLLISION_INTERFACE m_getCollisionFunc;
void* m_userPointer;
@@ -63,6 +64,7 @@ struct b3Plugin
m_processNotificationsFunc(0),
m_processClientCommandsFunc(0),
m_getRendererFunc(0),
m_getCollisionFunc(0),
m_userPointer(0)
{
}
@@ -81,6 +83,7 @@ struct b3Plugin
m_processNotificationsFunc = 0;
m_processClientCommandsFunc = 0;
m_getRendererFunc = 0;
m_getCollisionFunc = 0;
m_userPointer = 0;
m_isInitialized = false;
}
@@ -100,11 +103,12 @@ struct b3PluginManagerInternalData
b3AlignedObjectArray<b3Notification> m_notifications[2];
int m_activeNotificationsBufferIndex;
int m_activeRendererPluginUid;
int m_activeCollisionPluginUid;
int m_numNotificationPlugins;
b3PluginManagerInternalData()
:m_rpcCommandProcessorInterface(0), m_activeNotificationsBufferIndex(0), m_activeRendererPluginUid(-1),
m_numNotificationPlugins(0)
m_activeCollisionPluginUid(-1), m_numNotificationPlugins(0)
{
}
};
@@ -207,6 +211,8 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
std::string processNotificationsStr = std::string("processNotifications") + postFix;
std::string processClientCommandsStr = std::string("processClientCommands") + postFix;
std::string getRendererStr = std::string("getRenderInterface") + postFix;
std::string getCollisionStr = std::string("getCollisionInterface") + postFix;
plugin->m_initFunc = (PFN_INIT)B3_DYNLIB_IMPORT(pluginHandle, initStr.c_str());
plugin->m_exitFunc = (PFN_EXIT)B3_DYNLIB_IMPORT(pluginHandle, exitStr.c_str());
@@ -222,6 +228,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
plugin->m_processClientCommandsFunc = (PFN_TICK)B3_DYNLIB_IMPORT(pluginHandle, processClientCommandsStr.c_str());
plugin->m_getRendererFunc = (PFN_GET_RENDER_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getRendererStr.c_str());
plugin->m_getCollisionFunc = (PFN_GET_COLLISION_INTERFACE)B3_DYNLIB_IMPORT(pluginHandle, getCollisionStr.c_str());
if (plugin->m_initFunc && plugin->m_exitFunc && plugin->m_executeCommandFunc)
@@ -277,7 +284,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
}
}
//for now, automatically select the loaded plugin as active renderer. If wanted, we can add some 'select' mechanism.
//for now, automatically select the loaded plugin as active renderer.
if (pluginUniqueId>=0)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
@@ -286,6 +293,17 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
selectPluginRenderer(pluginUniqueId);
}
}
//for now, automatically select the loaded plugin as active collision plugin.
if (pluginUniqueId>=0)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(pluginUniqueId);
if (plugin && plugin->m_getCollisionFunc)
{
selectCollisionPlugin(pluginUniqueId);
}
}
return pluginUniqueId;
}
@@ -433,7 +451,7 @@ int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArgu
}
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, bool initPlugin)
int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc,PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc, PFN_GET_COLLISION_INTERFACE getCollisionFunc, bool initPlugin)
{
b3Plugin orgPlugin;
@@ -449,6 +467,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
pluginHandle->m_preTickFunc = preTickFunc;
pluginHandle->m_postTickFunc = postTickFunc;
pluginHandle->m_getRendererFunc = getRendererFunc;
pluginHandle->m_getCollisionFunc = getCollisionFunc;
pluginHandle->m_processClientCommandsFunc = processClientCommandsFunc;
pluginHandle->m_pluginHandle = 0;
pluginHandle->m_pluginPath = pluginPath;
@@ -487,15 +506,36 @@ UrdfRenderingInterface* b3PluginManager::getRenderInterface()
if (m_data->m_activeRendererPluginUid>=0)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(m_data->m_activeRendererPluginUid);
if (plugin)
if (plugin && plugin->m_getRendererFunc)
{
b3PluginContext context = {0};
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
renderer = plugin->m_getRendererFunc(&context);
}
}
return renderer;
}
void b3PluginManager::selectCollisionPlugin(int pluginUniqueId)
{
m_data->m_activeCollisionPluginUid = pluginUniqueId;
}
struct b3PluginCollisionInterface* b3PluginManager::getCollisionInterface()
{
b3PluginCollisionInterface* collisionInterface = 0;
if (m_data->m_activeCollisionPluginUid>=0)
{
b3PluginHandle* plugin = m_data->m_plugins.getHandle(m_data->m_activeCollisionPluginUid);
if (plugin && plugin->m_getCollisionFunc)
{
b3PluginContext context = {0};
context.m_userPointer = plugin->m_userPointer;
context.m_physClient = (b3PhysicsClientHandle) m_data->m_physicsDirect;
collisionInterface = plugin->m_getCollisionFunc(&context);
}
}
return collisionInterface;
}