pybullet.createSoftBodyAnchor

examples/pybullet/examples/deformable_anchor.py

@@ -0,0 +1,29 @@
+import pybullet as p
+from time import sleep
+
+physicsClient = p.connect(p.GUI)
+
+p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
+
+p.setGravity(0, 0, -10)
+
+planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
+planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
+
+boxId = p.loadURDF("cube.urdf", [0,1,2],useMaximalCoordinates = True)
+
+clothId = p.loadSoftBody("cloth_z_up.obj", basePosition = [0,0,2], scale = 0.5, mass = 1., useNeoHookean = 0, useBendingSprings=1,useMassSpring=1, springElasticStiffness=40, springDampingStiffness=.1, useSelfCollision = 0, frictionCoeff = .5, useFaceContact=1)
+
+
+p.createSoftBodyAnchor(clothId  ,0,-1,-1)
+p.createSoftBodyAnchor(clothId ,1,-1,-1)
+p.createSoftBodyAnchor(clothId ,3,boxId,-1, [0.5,-0.5,0])
+p.createSoftBodyAnchor(clothId ,2,boxId,-1, [-0.5,-0.5,0])
+p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
+p.setRealTimeSimulation(1)
+
+
+while p.isConnected():
+  p.getNumBodies()
+  sleep(1./240.)
+  

examples/pybullet/pybullet.c

@@ -1963,6 +1963,10 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
 }
 
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+
+
+
+
 // Load a softbody from an obj file
 static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* keywds)
 {
@@ -2072,6 +2076,56 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 	}
 	return PyLong_FromLong(bodyUniqueId);
 }
+
+static PyObject* pybullet_createSoftBodyAnchor(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	b3SharedMemoryCommandHandle commandHandle;
+	int softBodyUniqueId = -1;
+	int nodeIndex  = -1;
+	int bodyUniqueId = -1;
+	int linkIndex = -1;
+	PyObject* bodyFramePositionObj = 0;
+	double bodyFramePosition[3] = {0, 0, 0};
+	struct b3JointInfo jointInfo;
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+	int physicsClientId = 0;
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = {"softBodyBodyUniqueId", "nodeIndex",
+							 "bodyUniqueId", "linkIndex", "bodyFramePosition",
+							 "physicsClientId",
+							 NULL};
+
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOi", kwlist, &softBodyUniqueId, &nodeIndex,
+									 &bodyUniqueId, &linkIndex,&bodyFramePositionObj,&physicsClientId))
+	{
+		return NULL;
+	}
+
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	pybullet_internalSetVectord(bodyFramePositionObj, bodyFramePosition);
+
+	commandHandle = b3InitCreateSoftBodyAnchorConstraintCommand(sm, softBodyUniqueId, nodeIndex, bodyUniqueId, linkIndex, bodyFramePosition);
+	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+	statusType = b3GetStatusType(statusHandle);
+	if (statusType == CMD_USER_CONSTRAINT_COMPLETED)
+	{
+		int userConstraintUid = b3GetStatusUserConstraintUniqueId(statusHandle);
+		PyObject* ob = PyLong_FromLong(userConstraintUid);
+		return ob;
+	}
+
+	PyErr_SetString(SpamError, "createSoftBodyAnchor failed.");
+	return NULL;
+}
+
+
 #endif
 
 // Reset the simulation to remove all loaded objects
@@ -11798,6 +11852,10 @@ static PyMethodDef SpamMethods[] = {
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 	{"loadSoftBody", (PyCFunction)pybullet_loadSoftBody, METH_VARARGS | METH_KEYWORDS,
 	 "Load a softbody from an obj file."},
+
+	{"createSoftBodyAnchor", (PyCFunction)pybullet_createSoftBodyAnchor, METH_VARARGS | METH_KEYWORDS,
+	 "Create an anchor (attachment) between a soft body and a rigid or multi body."},
+
 #endif
 	{"loadBullet", (PyCFunction)pybullet_loadBullet, METH_VARARGS | METH_KEYWORDS,
 	 "Load a world from a .bullet file."},