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Merge pull request #2203 from erwincoumans/master

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implement stablePD control version of testLaikago,  fix getCameraImage in VR,  only report solver analytics if enabled using setPhysicsEngineParameter
This commit is contained in:
erwincoumans
2019-04-15 08:52:03 -07:00
committed by GitHub
parent c6a43e0a5b e97a7d77af
commit a929e8f2e5
16 changed files with 857 additions and 52 deletions
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35
examples/pybullet/pybullet.c
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@@ -330,6 +330,28 @@ static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObjec
statusHandle = b3SubmitClientCommandAndWaitStatus(
sm, b3InitStepSimulationCommand(sm));
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_STEP_FORWARD_SIMULATION_COMPLETED)
{
struct b3ForwardDynamicsAnalyticsArgs analyticsData;
int numIslands = 0;
int i;
numIslands = b3GetStatusForwardDynamicsAnalyticsData(statusHandle, &analyticsData);
PyObject* pyAnalyticsData = PyTuple_New(numIslands);
for (i=0;i<numIslands;i++)
{
int numFields = 4;
PyObject* pyIslandData = PyTuple_New(numFields);
PyTuple_SetItem(pyIslandData, 0, PyLong_FromLong(analyticsData.m_islandData[i].m_islandId));
PyTuple_SetItem(pyIslandData, 1, PyLong_FromLong(analyticsData.m_islandData[i].m_numBodies));
PyTuple_SetItem(pyIslandData, 2, PyLong_FromLong(analyticsData.m_islandData[i].m_numIterationsUsed));
PyTuple_SetItem(pyIslandData, 3, PyFloat_FromDouble(analyticsData.m_islandData[i].m_remainingLeastSquaresResidual));
PyTuple_SetItem(pyAnalyticsData, i, pyIslandData);
}
return pyAnalyticsData;
}
}
}
@@ -1545,8 +1567,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
double globalCFM = -1;
int minimumSolverIslandSize = -1;
int reportSolverAnalytics = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep",
"numSolverIterations",
"useSplitImpulse",
@@ -1570,10 +1593,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
"constraintSolverType",
"globalCFM",
"minimumSolverIslandSize",
"reportSolverAnalytics",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize,
&reportSolverAnalytics, &physicsClientId))
{
return NULL;
}
@@ -1690,6 +1715,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetDefaultGlobalCFM(command, globalCFM);
}
if (reportSolverAnalytics >= 0)
{
b3PhysicsParamSetSolverAnalytics(command, reportSolverAnalytics);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}