add python binding to allow loading deformable objects

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -386,12 +386,12 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle
 	return 0;
 }
 
-B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
+B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
 	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
         command->m_loadSoftBodyArguments.m_useSelfCollision = useSelfCollision;
-	command->m_updateFlags |= LOAD_SOFT_BODY_SET_SELF_COLLISION;
+	command->m_updateFlags |= LOAD_SOFT_BODY_USE_SELF_COLLISION;
 	return 0;
 }
 
@@ -413,6 +413,15 @@ B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle co
 	return 0;
 }
 
+B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact)
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+    b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+    command->m_loadSoftBodyArguments.m_useFaceContact = useFaceContact;
+    command->m_updateFlags |= LOAD_SOFT_BODY_USE_FACE_CONTACT;
+    return 0;
+}
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;

examples/SharedMemory/PhysicsClientC_API.h

@@ -638,7 +638,8 @@ extern "C"
 	B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);
 	B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
 	B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);
-	B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
+	B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
+    B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact);
 	B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient);
 	B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings);
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -8248,7 +8248,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
             psb->setCollisionFlags(0);
             psb->setTotalMass(mass);
             bool use_self_collision = false;
-            if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_SELF_COLLISION)
+            if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_USE_SELF_COLLISION)
             {
                     use_self_collision = loadSoftBodyArgs.m_useSelfCollision;
             }
@@ -13444,7 +13444,6 @@ void PhysicsServerCommandProcessor::resetSimulation(int flags)
 				softWorld->getWorldInfo().m_sparsesdf.Reset();
 			}
 		}
-		
 	}
 #endif
 	if (m_data && m_data->m_guiHelper)

examples/SharedMemory/SharedMemoryCommands.h

@@ -502,7 +502,8 @@ enum EnumLoadSoftBodyUpdateFlags
         LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10,
         LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11,
         LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
-        LOAD_SOFT_BODY_SET_SELF_COLLISION = 1<<13,
+        LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13,
+    LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14,
 };
 
 enum EnumSimParamInternalSimFlags
@@ -525,13 +526,14 @@ struct LoadSoftBodyArgs
         double m_springDampingStiffness;
         double m_corotatedMu;
         double m_corotatedLambda;
-        bool m_useBendingSprings;
+        int m_useBendingSprings;
         double m_collisionHardness;
         double m_useSelfCollision;
         double m_frictionCoeff;
         double m_NeoHookeanMu;
         double m_NeoHookeanLambda;
         double m_NeoHookeanDamping;
+    int m_useFaceContact;
 };
 
 struct b3LoadSoftBodyResultArgs

examples/pybullet/examples/deformable_torus.py

@@ -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()

examples/pybullet/pybullet.c

@@ -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)