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expose pybullet 'enableConeFriction' to switch between pyramid and cone friction model.

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This commit is contained in:
Erwin Coumans
2017-12-01 10:07:07 -08:00
parent e1df1534f3
commit c556ad651d
7 changed files with 83 additions and 51 deletions
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2
examples/RobotSimulator/RobotSimulatorMain.cpp
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@@ -124,7 +124,7 @@ int main(int argc, char* argv[])
b3Vector3 basePos;
b3Quaternion baseOrn;
sim->getBasePositionAndOrientation(minitaurUid,basePos,baseOrn);
sim->resetDebugVisualizerCamera(distance,yaw,20,basePos);
sim->resetDebugVisualizerCamera(distance,-20, yaw,basePos);
}
b3Clock::usleep(1000.*1000.*fixedTimeStep);
}

9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -450,6 +450,15 @@ B3_SHARED_API int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCo
}
B3_SHARED_API int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandle commandHandle, int enableConeFriction)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_enableConeFriction = enableConeFriction;
command->m_updateFlags |= SIM_PARAM_ENABLE_CONE_FRICTION;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -280,6 +280,9 @@ B3_SHARED_API int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryComman
B3_SHARED_API int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms);
B3_SHARED_API int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching);
B3_SHARED_API int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCommandHandle commandHandle, double restitutionVelocityThreshold);
B3_SHARED_API int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandle commandHandle, int enableConeFriction);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient);

1
examples/pybullet/examples/frictionCone.py
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@@ -16,6 +16,7 @@ num = 40
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)#disable this to make it faster
p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
p.setPhysicsEngineParameter(enableConeFriction=1)
for i in range (num):
print("progress:",i,num)

11
examples/pybullet/pybullet.c
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@@ -925,13 +925,14 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
double erp = -1;
double contactERP = -1;
double frictionERP = -1;
int enableConeFriction = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &physicsClientId))
{
return NULL;
}
@@ -1003,6 +1004,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetDefaultFrictionERP(command,frictionERP);
}
if (enableConeFriction >= 0)
{
b3PhysicsParamSetEnableConeFriction(command, enableConeFriction);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}