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Merge pull request #1112 from erwincoumans/master

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bump up setup.py pybullet pypi pip version to 1.0.2
This commit is contained in:
erwincoumans
2017-05-10 23:19:21 +00:00
committed by GitHub
parent fc6fb7b14c 53a82819a0
commit 9a80b529d8
11 changed files with 90 additions and 17 deletions
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18
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -473,12 +473,12 @@ void ConvertURDF2BulletInternal(
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int colGroup=0, colMask=0;
int flags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);
if (flags & URDF_HAS_COLLISION_GROUP)
int collisionFlags = u2b.getCollisionGroupAndMask(urdfLinkIndex,colGroup, colMask);
if (collisionFlags & URDF_HAS_COLLISION_GROUP)
{
collisionFilterGroup = colGroup;
}
if (flags & URDF_HAS_COLLISION_MASK)
if (collisionFlags & URDF_HAS_COLLISION_MASK)
{
collisionFilterMask = colMask;
}
@@ -498,6 +498,14 @@ void ConvertURDF2BulletInternal(
if (mbLinkIndex>=0) //???? double-check +/- 1
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider=col;
if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_PARENT)
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
}
if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
{
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION;
}
} else
{
cache.m_bulletMultiBody->setBaseCollider(col);
@@ -539,7 +547,9 @@ void ConvertURDF2Bullet(
if (world1 && cache.m_bulletMultiBody)
{
btMultiBody* mb = cache.m_bulletMultiBody;
mb->setHasSelfCollision(false);
mb->setHasSelfCollision((flags&CUF_USE_SELF_COLLISION)!=0);
mb->finalizeMultiDof();
btTransform localInertialFrameRoot = cache.m_urdfLinkLocalInertialFrames[urdfLinkIndex];

4
examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@@ -19,7 +19,9 @@ enum ConvertURDFFlags {
// Use inertia values in URDF instead of recomputing them from collision shape.
CUF_USE_URDF_INERTIA = 2,
CUF_USE_MJCF = 4,
CUF_USE_SELF_COLLISION=8
CUF_USE_SELF_COLLISION=8,
CUF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
};
void ConvertURDF2Bullet(const URDFImporterInterface& u2b,

10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -160,6 +160,16 @@ b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClie
return 0;
}
void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_LOAD_MJCF);
if (command->m_type == CMD_LOAD_MJCF)
{
command->m_mjcfArguments.m_flags = flags;
command->m_updateFlags |= URDF_ARGS_HAS_CUSTOM_URDF_FLAGS;
}
}
b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient)
{

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -237,7 +237,7 @@ int b3LoadUrdfCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int fla
b3SharedMemoryCommandHandle b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
b3SharedMemoryCommandHandle b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics

7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5693,7 +5693,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
b3Printf("Processed CMD_LOAD_MJCF:%s", mjcfArgs.m_mjcfFileName);
}
bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? (mjcfArgs.m_useMultiBody!=0) : true;
int flags = CUF_USE_MJCF;//CUF_USE_URDF_INERTIA
int flags = CUF_USE_MJCF;
if (clientCmd.m_updateFlags&URDF_ARGS_HAS_CUSTOM_URDF_FLAGS)
{
flags |= clientCmd.m_mjcfArguments.m_flags;
}
bool completedOk = loadMjcf(mjcfArgs.m_mjcfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
if (completedOk)
{

3
examples/SharedMemory/SharedMemoryCommands.h
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@@ -93,10 +93,13 @@ struct UrdfArgs
int m_urdfFlags;
};
struct MjcfArgs
{
char m_mjcfFileName[MAX_URDF_FILENAME_LENGTH];
int m_useMultiBody;
int m_flags;
};
struct BulletDataStreamArgs

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -509,6 +509,8 @@ enum eURDF_Flags
{
URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags'
URDF_USE_SELF_COLLISION=8,//see CUF_USE_SELF_COLLISION
URDF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
};
#endif//SHARED_MEMORY_PUBLIC_H

16
examples/pybullet/pybullet.c
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@@ -563,8 +563,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
int bodyIndicesOut[MAX_SDF_BODIES];
PyObject* pylist = 0;
int physicsClientId = 0;
static char* kwlist[] = {"mjcfFileName", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &mjcfFileName, &physicsClientId))
int flags = -1;
static char* kwlist[] = {"mjcfFileName", "flags", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &mjcfFileName, &flags, &physicsClientId))
{
return NULL;
}
@@ -576,6 +578,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
}
command = b3LoadMJCFCommandInit(sm, mjcfFileName);
if (flags>=0)
{
b3LoadMJCFCommandSetFlags(command,flags);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_MJCF_LOADING_COMPLETED)
@@ -3206,8 +3212,8 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
// b3SharedMemoryStatusHandle statusHandle;
// int statusType;
char* eventName = 0;
int duractionInMicroSeconds=-1;
@@ -6208,6 +6214,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);
PyModule_AddIntConstant(m, "MAX_RAY_INTERSECTION_BATCH_SIZE", MAX_RAY_INTERSECTION_BATCH_SIZE);

2
setup.py
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@@ -417,7 +417,7 @@ else:
setup(
name = 'pybullet',
version='1.0.1',
version='1.0.2',
description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',

3
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -22,7 +22,8 @@ subject to the following restrictions:
enum btMultiBodyLinkFlags
{
BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1
BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION = 1,
BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION = 2,
};
//both defines are now permanently enabled

40
src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
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@@ -74,15 +74,47 @@ public:
if (m_link>=0)
{
const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
if ((link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && link.m_parent == other->m_link)
return false;
if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
{
if ( link.m_parent == other->m_link)
return false;
}
if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
{
int parent_of_this = m_link;
while (1)
{
if (parent_of_this==-1)
break;
parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
if (parent_of_this==other->m_link)
{
return false;
}
}
}
}
if (other->m_link>=0)
{
const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
if ((otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION) && otherLink.m_parent == this->m_link)
return false;
if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
{
if (otherLink.m_parent == this->m_link)
return false;
}
if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
{
int parent_of_other = other->m_link;
while (1)
{
if (parent_of_other==-1)
break;
parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
if (parent_of_other==this->m_link)
return false;
}
}
}
return true;
}