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PyBullet: expose internal edge utility, to adjust edge normals to prevent object penetrating along triangle edges of concave triangle meshes

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(due to local convex-triangle collisions causing opposite contact normals, use the pre-computed edge normal)
PyBullet: expose experimental continuous collision detection for maximal coordinate rigid bodies, to prevent tunneling.
This commit is contained in:
erwincoumans
2018-02-16 19:44:33 -08:00
parent d35941ebb8
commit ddf304ca78
9 changed files with 187 additions and 10 deletions
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19
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -566,6 +566,14 @@ B3_SHARED_API int b3PhysicsParameterSetDeterministicOverlappingPairs(b3SharedMem
return 0;
}
B3_SHARED_API int b3PhysicsParameterSetAllowedCcdPenetration(b3SharedMemoryCommandHandle commandHandle, double allowedCcdPenetration)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_allowedCcdPenetration = allowedCcdPenetration;
command->m_updateFlags |= SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION ;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{
@@ -2308,6 +2316,17 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHan
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetCcdSweptSphereRadius(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, double ccdSweptSphereRadius)
{
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_ccdSweptSphereRadius = ccdSweptSphereRadius;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS;
return 0;
}
B3_SHARED_API 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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@@ -125,6 +125,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHand
B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double angularDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex,double contactStiffness, double contactDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, int frictionAnchor);
B3_SHARED_API int b3ChangeDynamicsInfoSetCcdSweptSphereRadius(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, double ccdSweptSphereRadius);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
@@ -291,9 +292,7 @@ B3_SHARED_API int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle
B3_SHARED_API int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCommandHandle commandHandle, double restitutionVelocityThreshold);
B3_SHARED_API int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandle commandHandle, int enableConeFriction);
B3_SHARED_API int b3PhysicsParameterSetDeterministicOverlappingPairs(b3SharedMemoryCommandHandle commandHandle, int deterministicOverlappingPairs);
B3_SHARED_API int b3PhysicsParameterSetAllowedCcdPenetration(b3SharedMemoryCommandHandle commandHandle, double allowedCcdPenetration);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient);

37
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6,6 +6,8 @@
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
@@ -1727,6 +1729,7 @@ void logCallback(btDynamicsWorld *world, btScalar timeStep)
bool MyContactAddedCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
btAdjustInternalEdgeContacts(cp, colObj1Wrap, colObj0Wrap, partId1,index1);
return true;
}
@@ -2253,12 +2256,13 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
isPreTick = true;
m_data->m_dynamicsWorld->setInternalTickCallback(preTickCallback,this,isPreTick);
gContactAddedCallback = MyContactAddedCallback;
#ifdef B3_ENABLE_TINY_AUDIO
m_data->m_soundEngine.init(16,true);
//we don't use those callbacks (yet), experimental
// gContactAddedCallback = MyContactAddedCallback;
// gContactDestroyedCallback = MyContactDestroyedCallback;
// gContactProcessedCallback = MyContactProcessedCallback;
// gContactStartedCallback = MyContactStartedCallback;
@@ -2411,6 +2415,17 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
for (int j = 0; j<m_data->m_collisionShapes.size(); j++)
{
btCollisionShape* shape = m_data->m_collisionShapes[j];
//check for internal edge utility, delete memory
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*) shape;
if (trimesh->getTriangleInfoMap())
{
delete trimesh->getTriangleInfoMap();
}
}
delete shape;
}
for (int j=0;j<m_data->m_meshInterfaces.size();j++)
@@ -3823,10 +3838,17 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
meshInterface->addTriangle(v0, v1, v2);
}
}
{
BT_PROFILE("create btBvhTriangleMeshShape");
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface, true, true);
m_data->m_collisionShapes.push_back(trimesh);
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_CONCAVE_INTERNAL_EDGE)
{
btTriangleInfoMap* triangleInfoMap = new btTriangleInfoMap();
btGenerateInternalEdgeInfo(trimesh, triangleInfoMap);
}
//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
shape = trimesh;
if (compound)
@@ -6377,6 +6399,13 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
body->m_rigidBody->setMassProps(mass,newLocalInertiaDiagonal);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS)
{
body->m_rigidBody->setCcdSweptSphereRadius(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius);
//for a given sphere radius, use a motion threshold of half the radius, before the ccd algorithm is enabled
body->m_rigidBody->setCcdMotionThreshold(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius/2.);
}
}
}
@@ -6534,6 +6563,12 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
{
m_data->m_dynamicsWorld->getDispatchInfo().m_deterministicOverlappingPairs = (clientCmd.m_physSimParamArgs.m_deterministicOverlappingPairs!=0);
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION)
{
m_data->m_dynamicsWorld->getDispatchInfo().m_allowedCcdPenetration = clientCmd.m_physSimParamArgs.m_allowedCcdPenetration;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)
{
m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;

4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -159,7 +159,7 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING=256,
CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512,
CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL = 1024,
CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS = 2048,
};
struct ChangeDynamicsInfoArgs
@@ -178,6 +178,7 @@ struct ChangeDynamicsInfoArgs
double m_contactDamping;
double m_localInertiaDiagonal[3];
int m_frictionAnchor;
double m_ccdSweptSphereRadius;
};
struct GetDynamicsInfoArgs
@@ -438,6 +439,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP=16384,
SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768,
SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 65536,
SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 131072,
};
enum EnumLoadSoftBodyUpdateFlags

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -693,6 +693,7 @@ enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
enum eUrdfCollisionFlags
{
GEOM_FORCE_CONCAVE_TRIMESH=1,
GEOM_CONCAVE_INTERNAL_EDGE=2,
};
enum eUrdfVisualFlags
@@ -740,6 +741,7 @@ struct b3PhysicsSimulationParameters
double m_frictionERP;
int m_enableConeFriction;
int m_deterministicOverlappingPairs;
double m_allowedCcdPenetration;
};