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Simplify GJK. Still needs double precision for large differences of feature scales.

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Extract faces directly from btConvexHullComputer (in initializePolyhedralFeatures), instead of reconstructing them, thanks to Josh Klint in #1654
PyBullet: use initializePolyhedralFeatures for convex hulls and boxes (to allow SAT)
PyBullet: expose setPhysicsEngineParameter(enableSAT=0 or 1) to enable Separating Axis Test based collision detection for convex vs convex/box and convex versus concave triangles (in a triangle mesh).
This commit is contained in:
erwincoumans
2018-06-12 16:08:46 -07:00
parent a342af0382
commit 97c6937388
13 changed files with 257 additions and 211 deletions
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15
examples/pybullet/pybullet.c
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@@ -1434,12 +1434,13 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int jointFeedbackMode =-1;
double solverResidualThreshold = -1;
double contactSlop = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "physicsClientId", NULL};
int enableSAT = -1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &physicsClientId))
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "enableSAT", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &physicsClientId))
{
return NULL;
}
@@ -1540,6 +1541,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsParameterSetJointFeedbackMode(command,jointFeedbackMode);
}
if (enableSAT>=0)
{
b3PhysicsParameterSetEnableSAT(command, enableSAT);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}