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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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27
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -107,7 +107,34 @@ btCollisionWorld::~btCollisionWorld()
void btCollisionWorld::refreshBroadphaseProxy(btCollisionObject* collisionObject)
{
if (collisionObject->getBroadphaseHandle())
{
int collisionFilterGroup = collisionObject->getBroadphaseHandle()->m_collisionFilterGroup;
int collisionFilterMask = collisionObject->getBroadphaseHandle()->m_collisionFilterMask;
getBroadphase()->destroyProxy(collisionObject->getBroadphaseHandle(),getDispatcher());
//calculate new AABB
btTransform trans = collisionObject->getWorldTransform();
btVector3 minAabb;
btVector3 maxAabb;
collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb);
int type = collisionObject->getCollisionShape()->getShapeType();
collisionObject->setBroadphaseHandle( getBroadphase()->createProxy(
minAabb,
maxAabb,
type,
collisionObject,
collisionFilterGroup,
collisionFilterMask,
m_dispatcher1)) ;
}
}
void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
{

3
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View File

@@ -488,6 +488,9 @@ public:
virtual void addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter);
virtual void refreshBroadphaseProxy(btCollisionObject* collisionObject);
btCollisionObjectArray& getCollisionObjectArray()
{
return m_collisionObjects;