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

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -452,10 +452,24 @@ int	b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle
     command->m_physSimParamArgs.m_defaultContactERP = defaultContactERP;
     return 0;
 }
+int	b3PhysicsParamSetDefaultNonContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultNonContactERP)
+{
+	    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+    command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP;
+    command->m_physSimParamArgs.m_defaultNonContactERP = defaultNonContactERP;
+    return 0;
+}
+int	b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle commandHandle, double frictionERP)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP;
+	command->m_physSimParamArgs.m_frictionERP = frictionERP;
+	return 0;
+}
 
 
-int	b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
-
 b3SharedMemoryCommandHandle	b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
@@ -1594,6 +1608,18 @@ int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandl
 	return 0;
 }
 
+int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, int frictionAnchor)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
+	command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
+	command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
+	command->m_changeDynamicsInfoArgs.m_frictionAnchor = frictionAnchor;
+	command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR;
+	return 0;
+}
+
+
 
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
 {

examples/SharedMemory/PhysicsClientC_API.h

@@ -90,7 +90,7 @@ int b3ChangeDynamicsInfoSetRestitution(b3SharedMemoryCommandHandle commandHandle
 int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double linearDamping);
 int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double angularDamping);
 int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex,double contactStiffness, double contactDamping);
-
+int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, int frictionAnchor);
 
 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
 
@@ -220,6 +220,9 @@ b3SharedMemoryCommandHandle	b3InitPhysicsParamCommand(b3PhysicsClientHandle phys
 int	b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
 int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
 int	b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
+int	b3PhysicsParamSetDefaultNonContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultNonContactERP);
+int	b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle commandHandle, double frictionERP);
+
 int	b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
 int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
 int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -4360,7 +4360,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
 								{
 									mb->getBaseCollider()->setRollingFriction(rollingFriction);
-								}								
+								}		
+
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
+								{
+									if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
+									{
+										mb->getBaseCollider()->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+									} else
+									{
+										mb->getBaseCollider()->setCollisionFlags(mb->getBaseCollider()->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+									}
+								}		
 							}
 							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
 							{
@@ -4392,6 +4403,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 										mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
 									}
 
+									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
+									{
+										if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
+										{
+											mb->getLinkCollider(linkIndex)->setCollisionFlags(mb->getLinkCollider(linkIndex)->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+										} else
+										{
+											mb->getLinkCollider(linkIndex)->setCollisionFlags(mb->getLinkCollider(linkIndex)->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+										}
+									}		
+
+
 									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
 									{
 										mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
@@ -4452,6 +4475,17 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								body->m_rigidBody->setRollingFriction(rollingFriction);
 							}
 
+							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR)
+							{
+								if (clientCmd.m_changeDynamicsInfoArgs.m_frictionAnchor)
+								{
+									body->m_rigidBody->setCollisionFlags(body->m_rigidBody->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+								} else
+								{
+									body->m_rigidBody->setCollisionFlags(body->m_rigidBody->getCollisionFlags() & ~btCollisionObject::CF_HAS_FRICTION_ANCHOR);
+								}
+							}	
+
 							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
 							{
 								btVector3 localInertia;
@@ -4568,6 +4602,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     {
                         m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP;
                     }
+
+					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP)
+                    {
+                        m_data->m_dynamicsWorld->getSolverInfo().m_erp = clientCmd.m_physSimParamArgs.m_defaultNonContactERP;
+                    }
+
+					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP)
+                    {
+                        m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionERP;
+                    }
+					
+
 					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
                     {
                         m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold = clientCmd.m_physSimParamArgs.m_restitutionVelocityThreshold;

examples/SharedMemory/SharedMemoryCommands.h

@@ -120,6 +120,7 @@ enum EnumChangeDynamicsInfoFlags
 	CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING=64,
 	CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING=128,
 	CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING=256,
+	CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512,
 
 };
 
@@ -137,6 +138,7 @@ struct ChangeDynamicsInfoArgs
 	double m_angularDamping;
 	double m_contactStiffness;
 	double m_contactDamping;
+	int m_frictionAnchor;
 };
 
 struct GetDynamicsInfoArgs
@@ -371,8 +373,8 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_MAX_CMD_PER_1MS = 2048,
 	SIM_PARAM_ENABLE_FILE_CACHING = 4096,
 	SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 8192,
-
+	SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP=16384,
-
+	SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768,
 };
 
 enum EnumLoadBunnyUpdateFlags
@@ -406,6 +408,8 @@ struct SendPhysicsSimulationParameters
 	int m_collisionFilterMode;
 	int m_enableFileCaching;
 	double m_restitutionVelocityThreshold;
+	double 	m_defaultNonContactERP;
+	double m_frictionERP;
 };
 
 struct LoadBunnyArgs

examples/pybullet/pybullet.c

@@ -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};
+	static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &physicsClientId))
+	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,
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
-									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &physicsClientId))
+									 &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);

examples/pybullet/tensorflow/humanoid_running.py

@@ -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