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

(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.

examples/pybullet/examples/experimentalCcdSphereRadius.py

@@ -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()
+	

examples/pybullet/examples/internalEdge.py

@@ -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()
+