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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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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;