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add python binding to allow loading deformable objects

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This commit is contained in:
Xuchen Han
2019-11-15 21:25:11 -08:00
parent 28039903b1
commit a86710c5b6
6 changed files with 59 additions and 9 deletions
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17
examples/pybullet/examples/deformable_torus.py Normal file
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@@ -0,0 +1,17 @@
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)
planeId = p.loadURDF("plane.urdf", [0,0,-2])
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
bunnyId = p.loadSoftBody("torus.vtk", useNeoHookean = 1, NeoHookeanMu = 60, NeoHookeanLambda = 200, NeoHookeanDamping = 0.01, useSelfCollision = 1, frictionCoeff = 0.5)
p.setGravity(0, 0, -10)
while p.isConnected():
p.stepSimulation()

26
examples/pybullet/pybullet.c
View File

@@ -1963,13 +1963,25 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
int physicsClientId = 0;
int flags = 0;
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", NULL};
int bodyUniqueId = -1;
const char* fileName = "";
double scale = -1;
double mass = -1;
double collisionMargin = -1;
int useMassSpring = 0;
int useBendingSprings = 0;
int useNeoHookean = 0;
double springElasticStiffness = 1;
double springDampingStiffness = 0.1;
double NeoHookeanMu = 1;
double NeoHookeanLambda = 1;
double NeoHookeanDamping = 0.1;
double frictionCoeff = 0;
int useFaceContact = 0;
int useSelfCollision = 0;
b3PhysicsClientHandle sm = 0;
@@ -1980,7 +1992,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
PyObject* basePosObj = 0;
PyObject* baseOrnObj = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddi", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiiiddddddii", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision))
{
return NULL;
}
@@ -2033,6 +2045,16 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
{
b3LoadSoftBodySetCollisionMargin(command, collisionMargin);
}
if (useMassSpring)
{
b3LoadSoftBodyAddMassSpringForce(command, springElasticStiffness, springDampingStiffness);
b3LoadSoftBodyUseBendingSprings(command, useBendingSprings);
}
if (useNeoHookean)
{
b3LoadSoftBodyAddNeoHookeanForce(command, NeoHookeanMu, NeoHookeanLambda, NeoHookeanDamping);
}
b3LoadSoftBodySetFrictionCoefficient(command, frictionCoeff);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_LOAD_SOFT_BODY_COMPLETED)