Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge branch 'master' of https://github.com/erwincoumans/bullet3

Browse Source
This commit is contained in:
Erwin Coumans
2018-05-25 08:50:23 +10:00
parent 5de53d7355 da73556ca7
commit bb696c66b7
3 changed files with 45 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
setup.py
View File

@@ -450,7 +450,7 @@ print("-----")
setup(
name = 'pybullet',
version='1.9.9',
version='2.0.0',
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',

68
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
View File

@@ -21,46 +21,64 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw)
bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw)
{
(void)debugDraw;
(void)v;
(void)simplexSolver;
// const btScalar radialmargin(btScalar(0.));
btVector3 guessVector(transformB.getOrigin()-transformA.getOrigin());
btGjkEpaSolver2::sResults results;
btVector3 guessVectors[] = {
btVector3(transformB.getOrigin() - transformA.getOrigin()),
btVector3(transformA.getOrigin() - transformB.getOrigin()),
btVector3(0, 0, 1),
btVector3(0, 1, 0),
btVector3(1, 0, 0),
btVector3(1, 1, 0),
btVector3(1, 1, 1),
btVector3(0, 1, 1),
btVector3(1, 0, 1),
};
if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
pConvexB,transformB,
guessVector,results))
{
// debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
wWitnessOnA = results.witnesses[0];
wWitnessOnB = results.witnesses[1];
v = results.normal;
return true;
} else
int numVectors = sizeof(guessVectors) / sizeof(btVector3);
for (int i = 0; i < numVectors; i++)
{
if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results))
simplexSolver.reset();
btVector3 guessVector = guessVectors[i];
btGjkEpaSolver2::sResults results;
if (btGjkEpaSolver2::Penetration(pConvexA, transformA,
pConvexB, transformB,
guessVector, results))
{
wWitnessOnA = results.witnesses[0];
wWitnessOnB = results.witnesses[1];
v = results.normal;
return false;
return true;
}
else
{
if (btGjkEpaSolver2::Distance(pConvexA, transformA, pConvexB, transformB, guessVector, results))
{
wWitnessOnA = results.witnesses[0];
wWitnessOnB = results.witnesses[1];
v = results.normal;
return false;
}
}
}
//failed to find a distance/penetration
wWitnessOnA.setValue(0, 0, 0);
wWitnessOnB.setValue(0, 0, 0);
v.setValue(0, 0, 0);
return false;
}

2
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@@ -35,7 +35,7 @@ subject to the following restrictions:
btScalar gGjkEpaPenetrationTolerance = 1e-7;
#else
#define REL_ERROR2 btScalar(1.0e-6)
btScalar gGjkEpaPenetrationTolerance = 0.001;
btScalar gGjkEpaPenetrationTolerance = BT_LARGE_FLOAT;
#endif
//temp globals, to improve GJK/EPA/penetration calculations