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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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84
examples/pybullet/pybullet.c
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@@ -5860,6 +5860,82 @@ static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPoint
return pyResultList;
}
static PyObject* pybullet_setCollisionFilterGroupMask(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
int bodyUniqueIdA=-1;
int linkIndexA =-2;
int collisionFilterGroup=-1;
int collisionFilterMask = -1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
static char* kwlist[] = {"bodyUniqueId", "linkIndexA","collisionFilterGroup", "collisionFilterMask" , "physicsClientId", NULL};
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiii|i", kwlist,
&bodyUniqueIdA, &linkIndexA, &collisionFilterGroup, &collisionFilterMask, &physicsClientId))
return NULL;
commandHandle = b3CollisionFilterCommandInit(sm);
b3SetCollisionFilterGroupMask(commandHandle, bodyUniqueIdA,linkIndexA,collisionFilterGroup, collisionFilterMask);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_setCollisionFilterPair(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
int bodyUniqueIdA=-1;
int bodyUniqueIdB=-1;
int linkIndexA =-2;
int linkIndexB =-2;
int enableCollision = -1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
static char* kwlist[] = {"bodyUniqueIdA", "bodyUniqueIdB","linkIndexA","linkIndexB", "enableCollision", "physicsClientId", NULL};
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiiii|i", kwlist,
&bodyUniqueIdA, &bodyUniqueIdB,&linkIndexA, &linkIndexB, &enableCollision, &physicsClientId))
return NULL;
commandHandle = b3CollisionFilterCommandInit(sm);
b3SetCollisionFilterPair(commandHandle, bodyUniqueIdA,bodyUniqueIdB, linkIndexA, linkIndexB, enableCollision);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args, PyObject* keywds)
{
PyObject *aabbMinOb = 0, *aabbMaxOb = 0;
@@ -9378,6 +9454,14 @@ static PyMethodDef SpamMethods[] = {
"axis-aligned bounding box volume (AABB)."
"Input are two vectors defining the AABB in world space [min_x,min_y,min_z],[max_x,max_y,max_z]."},
{"setCollisionFilterPair", (PyCFunction)pybullet_setCollisionFilterPair, METH_VARARGS | METH_KEYWORDS,
"Enable or disable collision detection between two object links."
"Input are two object unique ids and two link indices and an enum"
"to enable or disable collisions."},
{"setCollisionFilterGroupMask", (PyCFunction)pybullet_setCollisionFilterGroupMask, METH_VARARGS | METH_KEYWORDS,
"Set the collision filter group and the mask for a body."},
{"addUserDebugLine", (PyCFunction)pybullet_addUserDebugLine, METH_VARARGS | METH_KEYWORDS,
"Add a user debug draw line with lineFrom[3], lineTo[3], lineColorRGB[3], lineWidth, lifeTime. "
"A lifeTime of 0 means permanent until removed. Returns a unique id for the user debug item."},