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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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51
examples/pybullet/examples/experimentalCcdSphereRadius.py Normal file
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@@ -0,0 +1,51 @@
import pybullet as p
import time
p.connect(p.GUI)
p.setPhysicsEngineParameter(allowedCcdPenetration=0.0)
terrain_mass=0
terrain_visual_shape_id=-1
terrain_position=[0,0,0]
terrain_orientation=[0,0,0,1]
terrain_collision_shape_id = p.createCollisionShape(
shapeType=p.GEOM_MESH,
fileName="terrain.obj",
flags=p.GEOM_FORCE_CONCAVE_TRIMESH|p.GEOM_CONCAVE_INTERNAL_EDGE,
meshScale=[0.5, 0.5, 0.5])
p.createMultiBody(
terrain_mass, terrain_collision_shape_id, terrain_visual_shape_id,
terrain_position, terrain_orientation)
useMaximalCoordinates = True
sphereRadius = 0.005
colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
mass = 1
visualShapeId = -1
for i in range (5):
for j in range (5):
for k in range (5):
#if (k&2):
sphereUid = p.createMultiBody(mass,colSphereId,visualShapeId,[-i*5*sphereRadius,j*5*sphereRadius,k*2*sphereRadius+1],useMaximalCoordinates=useMaximalCoordinates)
#else:
# sphereUid = p.createMultiBody(mass,colBoxId,visualShapeId,[-i*2*sphereRadius,j*2*sphereRadius,k*2*sphereRadius+1], useMaximalCoordinates=useMaximalCoordinates)
p.changeDynamics(sphereUid,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
p.changeDynamics(sphereUid,-1,ccdSweptSphereRadius=0.002)
p.setGravity(0,0,-10)
pts = p.getContactPoints()
print("num points=",len(pts))
print(pts)
while (p.isConnected()):
time.sleep(1./240.)
p.stepSimulation()

42
examples/pybullet/examples/internalEdge.py Normal file
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@@ -0,0 +1,42 @@
import pybullet as p
import time
p.connect(p.GUI)
if (1):
box_collision_shape_id = p.createCollisionShape(
shapeType=p.GEOM_BOX,
halfExtents=[0.01,0.01,0.055])
box_mass=0.1
box_visual_shape_id = -1
box_position=[0,0.1,1]
box_orientation=[0,0,0,1]
p.createMultiBody(
box_mass, box_collision_shape_id, box_visual_shape_id,
box_position, box_orientation, useMaximalCoordinates=True)
terrain_mass=0
terrain_visual_shape_id=-1
terrain_position=[0,0,0]
terrain_orientation=[0,0,0,1]
terrain_collision_shape_id = p.createCollisionShape(
shapeType=p.GEOM_MESH,
fileName="terrain.obj",
flags=p.GEOM_FORCE_CONCAVE_TRIMESH|p.GEOM_CONCAVE_INTERNAL_EDGE,
meshScale=[0.5, 0.5, 0.5])
p.createMultiBody(
terrain_mass, terrain_collision_shape_id, terrain_visual_shape_id,
terrain_position, terrain_orientation)
p.setGravity(0,0,-10)
pts = p.getContactPoints()
print("num points=",len(pts))
print(pts)
while (p.isConnected()):
time.sleep(1./240.)
p.stepSimulation()

25
examples/pybullet/pybullet.c
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@@ -875,14 +875,15 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double angularDamping = -1;
double contactStiffness = -1;
double contactDamping = -1;
double ccdSweptSphereRadius=-1;
int frictionAnchor = -1;
PyObject* localInertiaDiagonalObj=0;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOdi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &physicsClientId))
{
return NULL;
}
@@ -942,6 +943,10 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetFrictionAnchor(command,bodyUniqueId,linkIndex, frictionAnchor);
}
if (ccdSweptSphereRadius>=0)
{
b3ChangeDynamicsInfoSetCcdSweptSphereRadius(command,bodyUniqueId,linkIndex, ccdSweptSphereRadius);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
@@ -1104,15 +1109,17 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
double erp = -1;
double contactERP = -1;
double frictionERP = -1;
double allowedCcdPenetration = -1;
int enableConeFriction = -1;
b3PhysicsClientHandle sm = 0;
int deterministicOverlappingPairs = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &physicsClientId))
{
return NULL;
}
@@ -1193,6 +1200,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsParameterSetDeterministicOverlappingPairs(command,deterministicOverlappingPairs);
}
if (allowedCcdPenetration>=0)
{
b3PhysicsParameterSetAllowedCcdPenetration(command,allowedCcdPenetration);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
@@ -8908,6 +8921,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "GEOM_CAPSULE", GEOM_CAPSULE);
PyModule_AddIntConstant(m, "GEOM_FORCE_CONCAVE_TRIMESH", GEOM_FORCE_CONCAVE_TRIMESH);
PyModule_AddIntConstant(m, "GEOM_CONCAVE_INTERNAL_EDGE", GEOM_CONCAVE_INTERNAL_EDGE);
PyModule_AddIntConstant(m, "STATE_LOG_JOINT_MOTOR_TORQUES", STATE_LOG_JOINT_MOTOR_TORQUES);
PyModule_AddIntConstant(m, "STATE_LOG_JOINT_USER_TORQUES", STATE_LOG_JOINT_USER_TORQUES);