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expose pybullet non-contact erp, friction erp and frictionAnchor, b3PhysicsParamSetDefaultNonContactERP / b3PhysicsParamSetDefaultFrictionERP / b3ChangeDynamicsInfoSetFrictionAnchor

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This commit is contained in:
Erwin Coumans
2017-06-07 09:37:28 -07:00
parent 0c3a3cc466
commit d08f3e5f91
6 changed files with 112 additions and 12 deletions
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31
examples/pybullet/pybullet.c
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@@ -627,11 +627,13 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double angularDamping = -1;
double contactStiffness = -1;
double contactDamping = -1;
int frictionAnchor = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddii", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &physicsClientId))
{
return NULL;
}
@@ -681,6 +683,10 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetContactStiffnessAndDamping(command,bodyUniqueId,linkIndex,contactStiffness, contactDamping);
}
if (frictionAnchor>=0)
{
b3ChangeDynamicsInfoSetFrictionAnchor(command,bodyUniqueId,linkIndex, frictionAnchor);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
@@ -757,13 +763,16 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int maxNumCmdPer1ms = -2;
int enableFileCaching = -1;
double restitutionVelocityThreshold=-1;
double erp;
double contactERP = -1;
double frictionERP = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &physicsClientId))
{
return NULL;
}
@@ -823,6 +832,18 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsParamSetEnableFileCaching(command, enableFileCaching);
}
if (erp>=0)
{
b3PhysicsParamSetDefaultNonContactERP(command,erp);
}
if (contactERP>=0)
{
b3PhysicsParamSetDefaultContactERP(command,contactERP);
}
if (frictionERP >=0)
{
b3PhysicsParamSetDefaultFrictionERP(command,frictionERP);
}
//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);

2
examples/pybullet/tensorflow/humanoid_running.py
View File

@@ -188,7 +188,7 @@ def demo_run():
distance=5
yaw = 0
humanPos, humanOrn = p.getBasePositionAndOrientation(human)
p.resetDebugVisualizerCamera(distance,yaw,20,humanPos);
p.resetDebugVisualizerCamera(distance,yaw,-20,humanPos);
frame += 1
if frame==1000: break