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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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examples/SharedMemory/plugins/b3PluginAPI.h
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@@ -32,6 +32,7 @@ extern "C" {
typedef B3_API_ENTRY int (B3_API_CALL * PFN_TICK)(struct b3PluginContext* context);
typedef B3_API_ENTRY struct UrdfRenderingInterface* (B3_API_CALL * PFN_GET_RENDER_INTERFACE)(struct b3PluginContext* context);
typedef B3_API_ENTRY struct b3PluginCollisionInterface* (B3_API_CALL * PFN_GET_COLLISION_INTERFACE)(struct b3PluginContext* context);
#ifdef __cplusplus