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Merge pull request #1959 from erwincoumans/master

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Use the kF_UseGjkConvexCastRaytest for more accurate picking, tweak tensorflow humanoid_running.py demo to be more robust
This commit is contained in:
erwincoumans
2018-10-28 19:53:01 -07:00
committed by GitHub
parent 9c780185af 126537bd93
commit a804815fd7
7 changed files with 16 additions and 7 deletions
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3
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
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@@ -219,6 +219,7 @@ void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data)
mb->setupPrismatic(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
mb->finalizeMultiDof();
mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
break;
}
@@ -230,6 +231,7 @@ void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data)
mb->setupRevolute(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
mb->finalizeMultiDof();
mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
break;
}
@@ -242,6 +244,7 @@ void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data)
btScalar jointPos[4] = {(btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3]};
btScalar jointVel[3] = {(btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2]};
mb->setJointPosMultiDof(i, jointPos);
mb->finalizeMultiDof();
mb->setJointVelMultiDof(i, jointVel);
break;

4
examples/CommonInterfaces/CommonGraphicsAppInterface.h
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@@ -13,10 +13,10 @@ struct DrawGridData
int upAxis;
float gridColor[4];
DrawGridData(int upAxis = 1)
DrawGridData(int upAx = 1)
: gridSize(10),
upOffset(0.001f),
upAxis(upAxis)
upAxis(upAx)
{
gridColor[0] = 0.6f;
gridColor[1] = 0.6f;

2
examples/CommonInterfaces/CommonRigidBodyBase.h
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@@ -10,6 +10,7 @@
#include "CommonGraphicsAppInterface.h"
#include "CommonWindowInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
struct CommonRigidBodyBase : public CommonExampleInterface
{
@@ -317,6 +318,7 @@ struct CommonRigidBodyBase : public CommonExampleInterface
btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);
rayCallback.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest;
m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
if (rayCallback.hasHit())
{

2
examples/OpenGLWindow/SimpleOpenGL3App.cpp
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@@ -78,7 +78,7 @@ struct SimpleInternalData
m_ffmpegFile(0),
m_renderTexture(0),
m_userPointer(0),
m_upAxis(0),
m_upAxis(1),
m_customViewPortWidth(-1),
m_customViewPortHeight(-1)
{

1
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -10753,6 +10753,7 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
//btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld);
MyResultCallback rayCallback(rayFromWorld, rayToWorld);
rayCallback.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest;
m_data->m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback);
if (rayCallback.hasHit())
{

9
examples/pybullet/tensorflow/humanoid_running.py
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@@ -10,7 +10,7 @@ if (cid<0):
cid = p.connect(p.GUI) #DIRECT is much faster, but GUI shows the running gait
p.setGravity(0,0,-9.8)
p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2)
p.setPhysicsEngineParameter(fixedTimeStep=1.0/60.,solverResidualThreshold=1-10, numSolverIterations=50, numSubSteps=4)
#this mp4 recording requires ffmpeg installed
#mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
@@ -180,11 +180,14 @@ def demo_run():
forces = [0.] * len(motors)
for m in range(len(motors)):
forces[m] = motor_power[m]*actions[m]*0.082
limit=15
ac = np.clip(actions[m],-limit,limit)
#print (ac)
forces[m] = motor_power[m]*ac*0.082
p.setJointMotorControlArray(human, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
p.stepSimulation()
time.sleep(0.01)
#time.sleep(0.01)
distance=5
yaw = 0
humanPos, humanOrn = p.getBasePositionAndOrientation(human)

2
setup.py
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@@ -582,7 +582,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
setup(
name = 'pybullet',
version='2.3.3',
version='2.3.4',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement 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',