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Merge pull request #1894 from erwincoumans/master

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allow to disable self-collision for a link-pair, only enable eglPlugin for Linux (disable eglPlugin for Win/Mac)
This commit is contained in:
erwincoumans
2018-09-22 14:59:08 -07:00
committed by GitHub
parent 8d8f96c850 b73b05e9fb
commit cff111ba04
9 changed files with 479 additions and 31 deletions
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84
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -2858,6 +2858,22 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveBodyCommand(b3PhysicsClien
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_REMOVE_BODY;
command->m_updateFlags = 0;
command->m_removeObjectArgs.m_numBodies = 0;
command->m_removeObjectArgs.m_numUserConstraints = 0;
command->m_removeObjectArgs.m_numUserCollisionShapes = 1;
command->m_removeObjectArgs.m_userCollisionShapes[0] = collisionShapeId;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
@@ -3883,10 +3899,76 @@ B3_SHARED_API void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle com
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags += CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD;
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD;
command->m_requestContactPointArguments.m_closestDistanceThreshold = distance;
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeA(b3SharedMemoryCommandHandle commandHandle, int collisionShapeA)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_A;
command->m_requestContactPointArguments.m_collisionShapeA = collisionShapeA;
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeB(b3SharedMemoryCommandHandle commandHandle, int collisionShapeB)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_B;
command->m_requestContactPointArguments.m_collisionShapeB = collisionShapeB;
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapePositionA(b3SharedMemoryCommandHandle commandHandle, double collisionShapePositionA[/*3*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_A;
command->m_requestContactPointArguments.m_collisionShapePositionA[0] = collisionShapePositionA[0];
command->m_requestContactPointArguments.m_collisionShapePositionA[1] = collisionShapePositionA[1];
command->m_requestContactPointArguments.m_collisionShapePositionA[2] = collisionShapePositionA[2];
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapePositionB(b3SharedMemoryCommandHandle commandHandle, double collisionShapePositionB[/*3*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_B;
command->m_requestContactPointArguments.m_collisionShapePositionB[0] = collisionShapePositionB[0];
command->m_requestContactPointArguments.m_collisionShapePositionB[1] = collisionShapePositionB[1];
command->m_requestContactPointArguments.m_collisionShapePositionB[2] = collisionShapePositionB[2];
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeOrientationA(b3SharedMemoryCommandHandle commandHandle, double collisionShapeOrientationA[/*4*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_A;
command->m_requestContactPointArguments.m_collisionShapeOrientationA[0] = collisionShapeOrientationA[0];
command->m_requestContactPointArguments.m_collisionShapeOrientationA[1] = collisionShapeOrientationA[1];
command->m_requestContactPointArguments.m_collisionShapeOrientationA[2] = collisionShapeOrientationA[2];
command->m_requestContactPointArguments.m_collisionShapeOrientationA[3] = collisionShapeOrientationA[3];
}
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeOrientationB(b3SharedMemoryCommandHandle commandHandle, double collisionShapeOrientationB[/*4*/])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION);
command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_B;
command->m_requestContactPointArguments.m_collisionShapeOrientationB[0] = collisionShapeOrientationB[0];
command->m_requestContactPointArguments.m_collisionShapeOrientationB[1] = collisionShapeOrientationB[1];
command->m_requestContactPointArguments.m_collisionShapeOrientationB[2] = collisionShapeOrientationB[2];
command->m_requestContactPointArguments.m_collisionShapeOrientationB[3] = collisionShapeOrientationB[3];
}
///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates)
B3_SHARED_API b3SharedMemoryCommandHandle b3InitAABBOverlapQuery(b3PhysicsClientHandle physClient, const double aabbMin[3], const double aabbMax[3])

11
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -290,6 +290,15 @@ B3_SHARED_API void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle c
B3_SHARED_API void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB);
B3_SHARED_API void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB);
B3_SHARED_API void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, double distance);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeA(b3SharedMemoryCommandHandle commandHandle, int collisionShapeA);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeB(b3SharedMemoryCommandHandle commandHandle, int collisionShapeB);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapePositionA(b3SharedMemoryCommandHandle commandHandle, double collisionShapePositionA[/*3*/]);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapePositionB(b3SharedMemoryCommandHandle commandHandle, double collisionShapePositionB[/*3*/]);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeOrientationA(b3SharedMemoryCommandHandle commandHandle, double collisionShapeOrientationA[/*4*/]);
B3_SHARED_API void b3SetClosestDistanceFilterCollisionShapeOrientationB(b3SharedMemoryCommandHandle commandHandle, double collisionShapeOrientationB[/*4*/]);
B3_SHARED_API void b3GetClosestPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo);
///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates)
@@ -487,6 +496,8 @@ B3_SHARED_API void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandH
B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/]);
B3_SHARED_API int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId);
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,double radius);
B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle,double halfExtents[/*3*/]);

156
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -232,9 +232,16 @@ struct InternalCollisionShapeData
{
btCollisionShape* m_collisionShape;
b3AlignedObjectArray<UrdfCollision> m_urdfCollisionObjects;
int m_used;
InternalCollisionShapeData()
:m_collisionShape(0),
m_used(0)
{
}
void clear()
{
m_collisionShape=0;
m_used = 0;
}
};
@@ -1693,6 +1700,7 @@ struct PhysicsServerCommandProcessorInternalData
b3HashMap<b3HashString, UrdfVisualShapeCache> m_cachedVUrdfisualShapes;
b3ThreadPool* m_threadPool;
btScalar m_defaultCollisionMargin;
PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
:m_pluginManager(proc),
@@ -1725,7 +1733,8 @@ struct PhysicsServerCommandProcessorInternalData
m_pdControlPlugin(-1),
m_collisionFilterPlugin(-1),
m_grpcPlugin(-1),
m_threadPool(0)
m_threadPool(0),
m_defaultCollisionMargin(0.001)
{
{
@@ -2381,6 +2390,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(colShapeUniqueId);
if (handle && handle->m_collisionShape)
{
handle->m_used++;
if (handle->m_collisionShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{
btCompoundShape* childCompound = (btCompoundShape*)handle->m_collisionShape;
@@ -3965,8 +3975,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
{
bool hasStatus = true;
serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_FAILED;
btScalar defaultCollisionMargin = 0.001;
btMultiBodyWorldImporter* worldImporter = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
btCollisionShape* shape = 0;
@@ -3977,6 +3986,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
if (clientCmd.m_createUserShapeArgs.m_numUserShapes>1)
{
compound = worldImporter->createCompoundShape();
compound ->setMargin(m_data->m_defaultCollisionMargin);
}
for (int i = 0; i < clientCmd.m_createUserShapeArgs.m_numUserShapes; i++)
{
@@ -4015,6 +4025,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
{
double radius = clientCmd.m_createUserShapeArgs.m_shapes[i].m_sphereRadius;
shape = worldImporter->createSphereShape(radius);
shape->setMargin(m_data->m_defaultCollisionMargin);
if (compound)
{
compound->addChildShape(childTransform, shape);
@@ -4031,6 +4042,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
clientCmd.m_createUserShapeArgs.m_shapes[i].m_boxHalfExtents[1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_boxHalfExtents[2]);
shape = worldImporter->createBoxShape(halfExtents);
shape->setMargin(m_data->m_defaultCollisionMargin);
if (compound)
{
compound->addChildShape(childTransform, shape);
@@ -4043,6 +4055,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
{
shape = worldImporter->createCapsuleShapeZ(clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius,
clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight);
shape->setMargin(m_data->m_defaultCollisionMargin);
if (compound)
{
compound->addChildShape(childTransform, shape);
@@ -4057,6 +4070,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
{
shape = worldImporter->createCylinderShapeZ(clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleRadius,
0.5*clientCmd.m_createUserShapeArgs.m_shapes[i].m_capsuleHeight);
shape->setMargin(m_data->m_defaultCollisionMargin);
if (compound)
{
compound->addChildShape(childTransform, shape);
@@ -4074,6 +4088,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
clientCmd.m_createUserShapeArgs.m_shapes[i].m_planeNormal[2]);
shape = worldImporter->createPlaneShape(planeNormal, 0);
shape->setMargin(m_data->m_defaultCollisionMargin);
if (compound)
{
compound->addChildShape(childTransform, shape);
@@ -4145,12 +4160,12 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
{
compound = worldImporter->createCompoundShape();
}
compound->setMargin(defaultCollisionMargin);
compound->setMargin(m_data->m_defaultCollisionMargin);
for (int s = 0; s < (int)shapes.size(); s++)
{
btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
convexHull->setMargin(defaultCollisionMargin);
convexHull->setMargin(m_data->m_defaultCollisionMargin);
tinyobj::shape_t& shape = shapes[s];
int faceCount = shape.mesh.indices.size();
@@ -4253,6 +4268,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
if (compound)
{
compound->addChildShape(childTransform, shape);
shape->setMargin(m_data->m_defaultCollisionMargin);
}
}
delete glmesh;
@@ -4265,11 +4281,11 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
{
compound = worldImporter->createCompoundShape();
}
compound->setMargin(defaultCollisionMargin);
compound->setMargin(m_data->m_defaultCollisionMargin);
{
btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
convexHull->setMargin(defaultCollisionMargin);
convexHull->setMargin(m_data->m_defaultCollisionMargin);
for (int v = 0; v < convertedVerts.size(); v++)
{
@@ -6235,7 +6251,84 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
btAlignedObjectArray<btCollisionObject*> setB;
btAlignedObjectArray<int> setALinkIndex;
btAlignedObjectArray<int> setBLinkIndex;
btCollisionObject colObA;
btCollisionObject colObB;
int collisionShapeA = (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_A) ?
clientCmd.m_requestContactPointArguments.m_collisionShapeA : -1;
int collisionShapeB = (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_B) ?
clientCmd.m_requestContactPointArguments.m_collisionShapeB : -1;
if (collisionShapeA>=0)
{
btVector3 posA(0,0,0);
if (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_A)
{
posA.setValue(clientCmd.m_requestContactPointArguments.m_collisionShapePositionA[0],
clientCmd.m_requestContactPointArguments.m_collisionShapePositionA[1],
clientCmd.m_requestContactPointArguments.m_collisionShapePositionA[2]);
}
btQuaternion ornA(0,0,0,1);
if (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_A)
{
ornA.setValue(clientCmd.m_requestContactPointArguments.m_collisionShapeOrientationA[0],
clientCmd.m_requestContactPointArguments.m_collisionShapeOrientationA[1],
clientCmd.m_requestContactPointArguments.m_collisionShapeOrientationA[2],
clientCmd.m_requestContactPointArguments.m_collisionShapeOrientationA[3]);
}
InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(collisionShapeA);
if (handle && handle->m_collisionShape)
{
colObA.setCollisionShape(handle->m_collisionShape);
btTransform tr;
tr.setIdentity();
tr.setOrigin(posA);
tr.setRotation(ornA);
colObA.setWorldTransform(tr);
setA.push_back(&colObA);
setALinkIndex.push_back(-2);
} else
{
b3Warning("collisionShapeA provided is not valid.");
}
}
if (collisionShapeB>=0)
{
btVector3 posB(0,0,0);
if (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_B)
{
posB.setValue(clientCmd.m_requestContactPointArguments.m_collisionShapePositionB[0],
clientCmd.m_requestContactPointArguments.m_collisionShapePositionB[1],
clientCmd.m_requestContactPointArguments.m_collisionShapePositionB[2]);
}
btQuaternion ornB(0,0,0,1);
if (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_B)
{
ornB.setValue(clientCmd.m_requestContactPointArguments.m_collisionShapeOrientationB[0],
clientCmd.m_requestContactPointArguments.m_collisionShapeOrientationB[1],
clientCmd.m_requestContactPointArguments.m_collisionShapeOrientationB[2],
clientCmd.m_requestContactPointArguments.m_collisionShapeOrientationB[3]);
}
InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(collisionShapeB);
if (handle && handle->m_collisionShape)
{
colObB.setCollisionShape(handle->m_collisionShape);
btTransform tr;
tr.setIdentity();
tr.setOrigin(posB);
tr.setRotation(ornB);
colObB.setWorldTransform(tr);
setB.push_back(&colObB);
setBLinkIndex.push_back(-2);
} else
{
b3Warning("collisionShapeB provided is not valid.");
}
}
if (bodyUniqueIdA >= 0)
{
InternalBodyData* bodyA = m_data->m_bodyHandles.getHandle(bodyUniqueIdA);
@@ -6358,11 +6451,9 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
m_cachedContactPoints.push_back(pt);
}
return 1;
}
};
MyContactResultCallback cb(m_data->m_cachedContactPoints);
cb.m_bodyUniqueIdA = bodyUniqueIdA;
@@ -8585,9 +8676,50 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
}
m_data->m_bodyHandles.freeHandle(bodyUniqueId);
}
}
for (int i=0;i<clientCmd.m_removeObjectArgs.m_numUserCollisionShapes;i++)
{
int removeCollisionShapeId = clientCmd.m_removeObjectArgs.m_userCollisionShapes[i];
InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(removeCollisionShapeId);
if (handle && handle->m_collisionShape)
{
if (handle->m_used)
{
b3Warning("Don't remove collision shape: it is used.");
}
else
{
b3Warning("TODO: dealloc");
int foundIndex = -1;
for (int i=0;i<m_data->m_worldImporters.size();i++)
{
btMultiBodyWorldImporter* importer = m_data->m_worldImporters[i];
for (int c=0;c<importer->getNumCollisionShapes();c++)
{
if (importer->getCollisionShapeByIndex(c) == handle->m_collisionShape)
{
if ( (importer->getNumRigidBodies()==0)&&
(importer->getNumConstraints()==0))
{
foundIndex=i;
break;
}
}
}
}
if (foundIndex>=0)
{
btMultiBodyWorldImporter* importer = m_data->m_worldImporters[i];
m_data->m_worldImporters.removeAtIndex(foundIndex);
delete importer;
m_data->m_userCollisionShapeHandles.freeHandle(removeCollisionShapeId);
}
}
}
}
m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL,1);
for (int i=0;i<serverCmd.m_removeObjectArgs.m_numBodies;i++)

18
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -278,6 +278,14 @@ enum EnumRequestContactDataUpdateFlags
CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD=2,
CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER = 4,
CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER = 8,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_A = 16,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_B = 32,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_A = 64,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_POSITION_B = 128,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_A= 256,
CMD_REQUEST_CONTACT_POINT_HAS_COLLISION_SHAPE_ORIENTATION_B= 512,
};
struct RequestRaycastIntersections
@@ -309,6 +317,14 @@ struct RequestContactDataArgs
int m_linkIndexAIndexFilter;
int m_linkIndexBIndexFilter;
double m_closestDistanceThreshold;
int m_collisionShapeA;
int m_collisionShapeB;
double m_collisionShapePositionA[3];
double m_collisionShapePositionB[3];
double m_collisionShapeOrientationA[4];
double m_collisionShapeOrientationB[4];
int m_mode;
};
@@ -599,6 +615,8 @@ struct b3ObjectArgs
int m_bodyUniqueIds[MAX_SDF_BODIES];
int m_numUserConstraints;
int m_userConstraintUniqueIds[MAX_SDF_BODIES];
int m_numUserCollisionShapes;
int m_userCollisionShapes[MAX_SDF_BODIES];
};
struct b3Profile

21
examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
View File

@@ -62,6 +62,13 @@ struct DefaultPluginCollisionInterface : public b3PluginCollisionInterface
b3Swap(keyValue.m_objectUniqueIdA,keyValue.m_objectUniqueIdB);
b3Swap(keyValue.m_linkIndexA,keyValue.m_linkIndexB);
}
if (objectUniqueIdA==objectUniqueIdB)
{
if (keyValue.m_linkIndexA>keyValue.m_linkIndexB)
{
b3Swap(keyValue.m_linkIndexA,keyValue.m_linkIndexB);
}
}
m_customCollisionFilters.insert(keyValue,keyValue);
@@ -83,6 +90,13 @@ struct DefaultPluginCollisionInterface : public b3PluginCollisionInterface
b3Swap(keyValue.m_objectUniqueIdA,keyValue.m_objectUniqueIdB);
b3Swap(keyValue.m_linkIndexA,keyValue.m_linkIndexB);
}
if (objectUniqueIdA==objectUniqueIdB)
{
if (keyValue.m_linkIndexA>keyValue.m_linkIndexB)
{
b3Swap(keyValue.m_linkIndexA,keyValue.m_linkIndexB);
}
}
m_customCollisionFilters.remove(keyValue);
}
@@ -116,6 +130,13 @@ struct DefaultPluginCollisionInterface : public b3PluginCollisionInterface
b3Swap(keyValue.m_objectUniqueIdA,keyValue.m_objectUniqueIdB);
b3Swap(keyValue.m_linkIndexA,keyValue.m_linkIndexB);
}
if (objectUniqueIdA==objectUniqueIdB)
{
if (keyValue.m_linkIndexA>keyValue.m_linkIndexB)
{
b3Swap(keyValue.m_linkIndexA,keyValue.m_linkIndexB);
}
}
b3CustomCollisionFilter* filter = m_customCollisionFilters.find(keyValue);
if (filter)

36
examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp
View File

@@ -62,6 +62,28 @@ B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugi
#ifdef EGL_ADD_PYTHON_INIT
static PyMethodDef eglMethods[] = {
{NULL, NULL, 0, NULL} /* Sentinel */
};
#if PY_MAJOR_VERSION >= 3
static struct PyModuleDef moduledef = {
PyModuleDef_HEAD_INIT, "eglRenderer", /* m_name */
"eglRenderer for PyBullet "
, /* m_doc */
-1, /* m_size */
eglMethods, /* m_methods */
NULL, /* m_reload */
NULL, /* m_traverse */
NULL, /* m_clear */
NULL, /* m_free */
};
#endif
PyMODINIT_FUNC
#if PY_MAJOR_VERSION >= 3
PyInit_eglRenderer(void)
@@ -69,8 +91,20 @@ PyInit_eglRenderer(void)
initeglRenderer(void)
#endif
{
PyObject* m;
#if PY_MAJOR_VERSION >= 3
return 0;
m = PyModule_Create(&moduledef);
#else
m = Py_InitModule3("eglRenderer", eglMethods, "eglRenderer for PyBullet");
#endif
#if PY_MAJOR_VERSION >= 3
if (m == NULL) return m;
#else
if (m == NULL) return;
#endif
}
#endif //EGL_ADD_PYTHON_INIT

55
examples/pybullet/examples/getClosestPoints.py Normal file
View File

@@ -0,0 +1,55 @@
import pybullet as p
import time
p.connect(p.GUI)
useCollisionShapeQuery = True
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
geom = p.createCollisionShape(p.GEOM_SPHERE, radius=0.1)
geomBox = p.createCollisionShape(p.GEOM_BOX, halfExtents=[0.2,0.2,0.2])
baseOrientationB = p.getQuaternionFromEuler([0,0.3,0])#[0,0.5,0.5,0]
basePositionB = [1.5,0,1]
obA=-1
obB=-1
obA = p.createMultiBody(baseMass=0, baseCollisionShapeIndex=geom,basePosition=[0.5,0,1])
obB = p.createMultiBody(baseMass=0, baseCollisionShapeIndex=geomBox,basePosition=basePositionB,baseOrientation=baseOrientationB )
lineWidth=3
colorRGB=[1,0,0]
lineId=p.addUserDebugLine(lineFromXYZ=[0,0,0],lineToXYZ=[0,0,0],lineColorRGB=colorRGB,lineWidth=lineWidth,lifeTime=0)
pitch=0
yaw=0
while (p.isConnected()):
pitch += 0.01
if (pitch>=3.1415*2.):
pitch=0
yaw+= 0.01
if (yaw>=3.1415*2.):
yaw=0
baseOrientationB = p.getQuaternionFromEuler([yaw,pitch,0])
if (obB>=0):
p.resetBasePositionAndOrientation(obB, basePositionB, baseOrientationB)
if (useCollisionShapeQuery):
pts = p.getClosestPoints(bodyA=-1, bodyB=-1, distance=100, collisionShapeA=geom,collisionShapeB=geomBox, collisionShapePositionA=[0.5,0,1],collisionShapePositionB=basePositionB, collisionShapeOrientationB=baseOrientationB)
#pts = p.getClosestPoints(bodyA=obA, bodyB=-1, distance=100, collisionShapeB=geomBox, collisionShapePositionB=basePositionB, collisionShapeOrientationB=baseOrientationB)
else:
pts = p.getClosestPoints(bodyA=obA, bodyB=obB, distance=100)
if len(pts)>0:
#print(pts)
distance = pts[0][8]
#print("distance=",distance)
ptA = pts[0][5]
ptB = pts[0][6]
p.addUserDebugLine(lineFromXYZ=ptA,lineToXYZ=ptB,lineColorRGB=colorRGB,lineWidth=lineWidth,lifeTime=0,replaceItemUniqueId=lineId);
#time.sleep(1./240.)
#removeCollisionShape is optional:
#only use removeCollisionShape if the collision shape is not used to create a body
#and if you want to keep on creating new collision shapes for different queries (not recommended)
p.removeCollisionShape(geom)
p.removeCollisionShape(geomBox)

96
examples/pybullet/pybullet.c
View File

@@ -3099,6 +3099,40 @@ static PyObject* pybullet_getBodyUniqueId(PyObject* self, PyObject* args, PyObje
}
}
static PyObject* pybullet_removeCollisionShape(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int collisionShapeId= -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"collisionShapeId", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &collisionShapeId, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (collisionShapeId>=0)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(sm))
{
statusHandle = b3SubmitClientCommandAndWaitStatus( sm, b3InitRemoveCollisionShapeCommand(sm,collisionShapeId));
statusType = b3GetStatusType(statusHandle);
}
}
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_removeBody(PyObject* self, PyObject* args, PyObject* keywds)
{
{
@@ -6002,6 +6036,17 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
int bodyUniqueIdB = -1;
int linkIndexA = -2;
int linkIndexB = -2;
int collisionShapeA = -1;
int collisionShapeB = -1;
PyObject* collisionShapePositionAObj = 0;
PyObject* collisionShapeOrientationAObj = 0;
double collisionShapePositionA[3]={0,0,0};
double collisionShapeOrientationA[4]={0,0,0,1};
PyObject* collisionShapePositionBObj = 0;
PyObject* collisionShapeOrientationBObj = 0;
double collisionShapePositionB[3]={0,0,0};
double collisionShapeOrientationB[4]={0,0,0,1};
double distanceThreshold = 0.f;
@@ -6011,10 +6056,14 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
int statusType;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"bodyA", "bodyB", "distance", "linkIndexA", "linkIndexB", "physicsClientId", NULL};
static char* kwlist[] = {"bodyA", "bodyB", "distance", "linkIndexA", "linkIndexB", "collisionShapeA","collisionShapeB", "collisionShapePositionA","collisionShapePositionB","collisionShapeOrientationA","collisionShapeOrientationB","physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iid|iii", kwlist,
&bodyUniqueIdA, &bodyUniqueIdB, &distanceThreshold, &linkIndexA, &linkIndexB, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iid|iiiiOOOOi", kwlist,
&bodyUniqueIdA, &bodyUniqueIdB, &distanceThreshold, &linkIndexA, &linkIndexB,
&collisionShapeA, &collisionShapeB,
&collisionShapePositionAObj,&collisionShapePositionBObj,
&collisionShapeOrientationA,&collisionShapeOrientationBObj,
&physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -6025,8 +6074,14 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
}
commandHandle = b3InitClosestDistanceQuery(sm);
b3SetClosestDistanceFilterBodyA(commandHandle, bodyUniqueIdA);
b3SetClosestDistanceFilterBodyB(commandHandle, bodyUniqueIdB);
if (bodyUniqueIdA>=0)
{
b3SetClosestDistanceFilterBodyA(commandHandle, bodyUniqueIdA);
}
if (bodyUniqueIdB>=0)
{
b3SetClosestDistanceFilterBodyB(commandHandle, bodyUniqueIdB);
}
b3SetClosestDistanceThreshold(commandHandle, distanceThreshold);
if (linkIndexA >= -1)
{
@@ -6036,6 +6091,34 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
{
b3SetClosestDistanceFilterLinkB(commandHandle, linkIndexB);
}
if (collisionShapeA>=0)
{
b3SetClosestDistanceFilterCollisionShapeA(commandHandle, collisionShapeA);
}
if (collisionShapeB>=0)
{
b3SetClosestDistanceFilterCollisionShapeB(commandHandle, collisionShapeB);
}
if (collisionShapePositionAObj)
{
pybullet_internalSetVectord(collisionShapePositionAObj,collisionShapePositionA);
b3SetClosestDistanceFilterCollisionShapePositionA(commandHandle, collisionShapePositionA);
}
if (collisionShapePositionBObj)
{
pybullet_internalSetVectord(collisionShapePositionBObj,collisionShapePositionB);
b3SetClosestDistanceFilterCollisionShapePositionB(commandHandle, collisionShapePositionB);
}
if (collisionShapeOrientationAObj)
{
pybullet_internalSetVector4d(collisionShapeOrientationAObj,collisionShapeOrientationA);
b3SetClosestDistanceFilterCollisionShapeOrientationA(commandHandle, collisionShapeOrientationA);
}
if (collisionShapeOrientationBObj)
{
pybullet_internalSetVector4d(collisionShapeOrientationBObj,collisionShapeOrientationB);
b3SetClosestDistanceFilterCollisionShapeOrientationB(commandHandle, collisionShapeOrientationB);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
@@ -9244,6 +9327,9 @@ static PyMethodDef SpamMethods[] = {
{ "createCollisionShapeArray", (PyCFunction)pybullet_createCollisionShapeArray, METH_VARARGS | METH_KEYWORDS,
"Create collision shapes. Returns a non-negative (int) unique id, if successfull, negative otherwise." },
{"removeCollisionShape", (PyCFunction)pybullet_removeCollisionShape, METH_VARARGS | METH_KEYWORDS,
"Remove a collision shape. Only useful when the collision shape is not used in a body (to perform a getClosestPoint query)."},
{"createVisualShape", (PyCFunction)pybullet_createVisualShape, METH_VARARGS | METH_KEYWORDS,
"Create a visual shape. Returns a non-negative (int) unique id, if successfull, negative otherwise."},

33
setup.py
View File

@@ -42,7 +42,7 @@ CXX_FLAGS += '-DBT_USE_DOUBLE_PRECISION '
CXX_FLAGS += '-DBT_ENABLE_ENET '
CXX_FLAGS += '-DBT_ENABLE_CLSOCKET '
CXX_FLAGS += '-DB3_DUMP_PYTHON_VERSION '
CXX_FLAGS += '-DEGL_ADD_PYTHON_INIT '
EGL_CXX_FLAGS = ''
@@ -535,12 +535,26 @@ print("packages")
print(find_packages('examples/pybullet/gym'))
print("-----")
eglRender = Extension("eglRenderer",
sources = egl_renderer_sources,
extensions = []
pybullet_ext = Extension("pybullet",
sources = sources,
libraries = libraries,
extra_compile_args=(CXX_FLAGS+EGL_CXX_FLAGS ).split(),
include_dirs = include_dirs + ["src","examples", "examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
extra_compile_args=CXX_FLAGS.split(),
include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
)
extensions.append(pybullet_ext)
if 'BT_USE_EGL' in EGL_CXX_FLAGS:
eglRender = Extension("eglRenderer",
sources = egl_renderer_sources,
libraries = libraries,
extra_compile_args=(CXX_FLAGS+EGL_CXX_FLAGS ).split(),
include_dirs = include_dirs + ["src","examples", "examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"])
extensions.append(eglRender)
setup(
@@ -554,13 +568,8 @@ setup(
license='zlib',
platforms='any',
keywords=['game development', 'virtual reality', 'physics simulation', 'robotics', 'collision detection', 'opengl'],
ext_modules = [eglRender, Extension("pybullet",
sources = sources,
libraries = libraries,
extra_compile_args=CXX_FLAGS.split(),
include_dirs = include_dirs + ["src","examples/ThirdPartyLibs","examples/ThirdPartyLibs/glad", "examples/ThirdPartyLibs/enet/include","examples/ThirdPartyLibs/clsocket/src"]
) ],
classifiers=['Development Status :: 5 - Production/Stable',
ext_modules = extensions,
classifiers=['Development Status :: 5 - Production/Stable',
'License :: OSI Approved :: zlib/libpng License',
'Operating System :: Microsoft :: Windows',
'Operating System :: POSIX :: Linux',