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allow to enable/disable implicit cylinder conversion through an API

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p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER)
allow to enable/disable deterministicOverlappingPairs through an API
p.setPhysicsEngineParameter(deterministicOverlappingPairs = False)
This commit is contained in:
erwincoumans
2018-01-09 10:10:36 -08:00
parent bf6d805228
commit e138e85bca
11 changed files with 85 additions and 47 deletions
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9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -557,6 +557,15 @@ B3_SHARED_API int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandl
return 0;
}
B3_SHARED_API int b3PhysicsParameterSetDeterministicOverlappingPairs(b3SharedMemoryCommandHandle commandHandle, int deterministicOverlappingPairs)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_deterministicOverlappingPairs = deterministicOverlappingPairs;
command->m_updateFlags |= SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -291,6 +291,8 @@ B3_SHARED_API int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHan
B3_SHARED_API int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching);
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);

20
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2727,7 +2727,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
m_data->m_sdfRecentLoadedBodies.clear();
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool forceFixedBase = false;
@@ -2759,7 +2759,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
@@ -3770,12 +3770,12 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
btAlignedObjectArray<btVector3> convertedVerts;
convertedVerts.reserve(glmesh->m_numvertices);
for (int i = 0; i < glmesh->m_numvertices; i++)
for (int v = 0; v < glmesh->m_numvertices; v++)
{
convertedVerts.push_back(btVector3(
glmesh->m_vertices->at(i).xyzw[0] * meshScale[0],
glmesh->m_vertices->at(i).xyzw[1] * meshScale[1],
glmesh->m_vertices->at(i).xyzw[2] * meshScale[2]));
glmesh->m_vertices->at(v).xyzw[0] * meshScale[0],
glmesh->m_vertices->at(v).xyzw[1] * meshScale[1],
glmesh->m_vertices->at(v).xyzw[2] * meshScale[2]));
}
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags&GEOM_FORCE_CONCAVE_TRIMESH)
@@ -3868,8 +3868,8 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
bool hasStatus = true;
serverStatusOut.m_type = CMD_CREATE_VISUAL_SHAPE_FAILED;
double globalScaling = 1.f;
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
int flags=0;
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling, flags);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
btTransform localInertiaFrame;
localInertiaFrame.setIdentity();
@@ -6502,6 +6502,10 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
m_data->m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_DISABLE_IMPLICIT_CONE_FRICTION;
}
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS)
{
m_data->m_dynamicsWorld->getDispatchInfo().m_deterministicOverlappingPairs = clientCmd.m_physSimParamArgs.m_deterministicOverlappingPairs;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)
{
m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -437,6 +437,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 8192,
SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP=16384,
SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768,
SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 65536,
};
enum EnumLoadSoftBodyUpdateFlags

3
examples/SharedMemory/SharedMemoryPublic.h
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@@ -670,7 +670,7 @@ enum eURDF_Flags
URDF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
URDF_RESERVED=64,
URDF_USE_IMPLICIT_CYLINDER =128,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
@@ -733,6 +733,7 @@ struct b3PhysicsSimulationParameters
double m_defaultNonContactERP;
double m_frictionERP;
int m_enableConeFriction;
int m_deterministicOverlappingPairs;
};