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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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8
examples/SharedMemory/b3PluginManager.h
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@@ -30,9 +30,13 @@ class b3PluginManager
void tickPlugins(double timeStep, b3PluginManagerTickMode tickMode);
int 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=true);
int 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=true);
void selectPluginRenderer(int pluginUniqueId);
UrdfRenderingInterface* getRenderInterface();
struct UrdfRenderingInterface* getRenderInterface();
void selectCollisionPlugin(int pluginUniqueId);
struct b3PluginCollisionInterface* getCollisionInterface();
};
#endif //B3_PLUGIN_MANAGER_H