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work on pybullet/C-API createMultiBody (still preliminary, only sphere/box collision shapes, no links/hierarchies yet, soon)

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pybullet/C-API, expose linear/angular damping
fix some warnings (param name needs to be same in .h and .cpp)
fix potential startup threading issue (args were deleted in main thread while still possibly use in child thread)
fix for spinning/rolling friction in case of mixing maximal and reduced coordinate btMultiBody+btRigidBody
This commit is contained in:
Erwin Coumans
2017-06-04 22:04:16 -07:00
parent b23cb1dd2c
commit a7aed37632
12 changed files with 183 additions and 68 deletions
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24
examples/pybullet/examples/createSphereMultiBodies.py
View File

@@ -1,9 +1,13 @@
import pybullet as p
import time
p.connect(p.GUI)
sphereRadius = 0.05
useMaximalCoordinates = 0
p.connect(p.GUI)
p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
p.setPhysicsEngineParameter(numSolverIterations=10)
p.setPhysicsEngineParameter(fixedTimeStep=1./120.)
sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
@@ -11,16 +15,16 @@ mass = 1
visualShapeId = -1
for i in range (10):
for j in range (10):
for k in range (10):
for i in range (5):
for j in range (5):
for k in range (5):
if (k&2):
sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1])
sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1],useMaximalCoordinates=useMaximalCoordinates)
else:
sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1])
#p.changeDynamics(sphereUid,-1,spinningFriction=0.1, rollingFriction=0.1)
#p.loadSDF("stadium.sdf")
p.loadURDF("plane.urdf", useMaximalCoordinates=0)
sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1], useMaximalCoordinates=useMaximalCoordinates)
p.changeDynamics(sphereUid,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)

38
examples/pybullet/pybullet.c
View File

@@ -623,12 +623,14 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double spinningFriction= -1;
double rollingFriction = -1;
double restitution = -1;
double linearDamping = -1;
double angularDamping = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &physicsClientId))
{
return NULL;
}
@@ -661,6 +663,16 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
b3ChangeDynamicsInfoSetRollingFriction(command, bodyUniqueId, linkIndex,rollingFriction);
}
if (linearDamping>=0)
{
b3ChangeDynamicsInfoSetLinearDamping(command,bodyUniqueId, linearDamping);
}
if (angularDamping>=0)
{
b3ChangeDynamicsInfoSetAngularDamping(command,bodyUniqueId,angularDamping);
}
if (restitution>=0)
{
b3ChangeDynamicsInfoSetRestitution(command, bodyUniqueId, linkIndex, restitution);
@@ -971,6 +983,7 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
int numBodies = 0;
int i;
int bodyIndicesOut[MAX_SDF_BODIES];
int useMaximalCoordinates = -1;
PyObject* pylist = 0;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
@@ -978,8 +991,8 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"sdfFileName", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &sdfFileName, &physicsClientId))
static char* kwlist[] = {"sdfFileName", "useMaximalCoordinates", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &sdfFileName, &useMaximalCoordinates, &physicsClientId))
{
return NULL;
}
@@ -991,6 +1004,11 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
}
commandHandle = b3LoadSdfCommandInit(sm, sdfFileName);
if (useMaximalCoordinates>0)
{
b3LoadSdfCommandSetUseMultiBody(commandHandle,0);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SDF_LOADING_COMPLETED)
@@ -4805,15 +4823,17 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
double baseMass = 0;
int baseCollisionShapeIndex=-1;
int baseVisualShapeIndex=-1;
int useMaximalCoordinates = 0;
PyObject* basePosObj=0;
PyObject* baseOrnObj=0;
static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation",
// "linkParentIndices", "linkJointTypes","linkMasses","linkCollisionShapeIndices",
"useMaximalCoordinates","physicsClientId",
NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOi", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
&basePosObj, &baseOrnObj,&physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
&basePosObj, &baseOrnObj,&useMaximalCoordinates, &physicsClientId))
{
return NULL;
}
@@ -4833,11 +4853,15 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
pybullet_internalSetVectord(basePosObj,basePosition);
pybullet_internalSetVector4d(baseOrnObj,baseOrientation);
int baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
if (useMaximalCoordinates>0)
{
b3CreateMultiBodyUseMaximalCoordinates(commandHandle,useMaximalCoordinates);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CREATE_MULTI_BODY_COMPLETED)
{
int uid = b3GetStatusMultiBodyUniqueId(statusHandle);
int uid = b3GetStatusBodyIndex(statusHandle);
PyObject* ob = PyLong_FromLong(uid);
return ob;
}