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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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30
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -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)
{

5
examples/SharedMemory/PhysicsClientC_API.h
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@@ -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);

46
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4361,6 +4361,17 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
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;

8
examples/SharedMemory/SharedMemoryCommands.h
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@@ -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

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
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@@ -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