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expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...)

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Bullet C-API b3ChangeDynamicsInfoSetSpinningFriction/RollingFriction/Resitution
b3PhysicsParamSetRestitutionVelocityThreshold, / pybullet.setPhysicsEngineParameter restitutionVelocityThreshold:
if the velocity is below this threshhold, the restitution is zero (this prevents energy buildup at near-resting state)
pybullet restitution.py example.
This commit is contained in:
Erwin Coumans
2017-05-26 18:14:38 -07:00
parent 8c6d4a4c85
commit b645963879
12 changed files with 317 additions and 51 deletions
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37
examples/pybullet/pybullet.c
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@@ -620,11 +620,15 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
int linkIndex = -2;
double mass = -1;
double lateralFriction = -1;
double spinningFriction= -1;
double rollingFriction = -1;
double restitution = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &physicsClientId))
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))
{
return NULL;
}
@@ -644,12 +648,23 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
}
if (lateralFriction >= 0)
{
b3ChangeDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
}
if (spinningFriction>=0)
{
b3ChangeDynamicsInfoSetSpinningFriction(command, bodyUniqueId, linkIndex,spinningFriction);
}
if (rollingFriction>=0)
{
b3ChangeDynamicsInfoSetRollingFriction(command, bodyUniqueId, linkIndex,rollingFriction);
}
if (restitution>=0)
{
b3ChangeDynamicsInfoSetRestitution(command, bodyUniqueId, linkIndex, restitution);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
@@ -725,14 +740,14 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
double contactBreakingThreshold = -1;
int maxNumCmdPer1ms = -2;
int enableFileCaching = -1;
double restitutionVelocityThreshold=-1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &physicsClientId))
{
return NULL;
}
@@ -783,6 +798,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsParamSetMaxNumCommandsPer1ms(command, maxNumCmdPer1ms);
}
if (restitutionVelocityThreshold>=0)
{
b3PhysicsParamSetRestitutionVelocityThreshold(command, restitutionVelocityThreshold);
}
if (enableFileCaching>=0)
{
b3PhysicsParamSetEnableFileCaching(command, enableFileCaching);
@@ -921,7 +940,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
startOrnZ, startOrnW);
if (useMaximalCoordinates>=0)
{
b3LoadUrdfCommandSetUseMultiBody(command, useMaximalCoordinates);
b3LoadUrdfCommandSetUseMultiBody(command, useMaximalCoordinates==0);
}
if (useFixedBase)
{