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fix memory issues in btSparseSDF.h

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(hash function on structure with uninitialized padding, and  Reset not called in destructor)
expose sparseSdfVoxelSize in PyBullet.setPhysicsEngineParameter
don't call deformable wireframe drawing in the wrong thread/place (it can cause crashes)
This commit is contained in:
Erwin Coumans
2019-11-18 10:22:56 -08:00
committed by Xuchen Han
parent 4ee788e2af
commit e5ed15c3b2
10 changed files with 85 additions and 32 deletions
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27
examples/pybullet/examples/deformable_ball.py Normal file
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@@ -0,0 +1,27 @@
import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
p.setGravity(0, 0, -10)
planeOrn = [0,0,0,1]#p.getQuaternionFromEuler([0.3,0,0])
planeId = p.loadURDF("plane.urdf", [0,0,-2],planeOrn)
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
ballId = p.loadSoftBody("ball.vtk", basePosition = [0,0,-1], scale = 0.5, mass = 0.1, useNeoHookean = 1, NeoHookeanMu = 20, NeoHookeanLambda = 20, NeoHookeanDamping = 0.001, useSelfCollision = 1, frictionCoeff = .5)
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(1)
#logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "perf.json")
while p.isConnected():
p.setGravity(0,0,-10)
sleep(1./240.)
#p.resetSimulation()
#p.stopStateLogging(logId)

1
examples/pybullet/examples/deformable_torus.py
View File

@@ -12,6 +12,7 @@ planeId = p.loadURDF("plane.urdf", [0,0,-2])
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
bunnyId = p.loadSoftBody("torus.vtk", useNeoHookean = 1, NeoHookeanMu = 60, NeoHookeanLambda = 200, NeoHookeanDamping = 0.01, useSelfCollision = 1, frictionCoeff = 0.5)
p.setPhysicsEngineParameter(sparseSdfVoxelSize=0.25)
p.setRealTimeSimulation(1)
while p.isConnected():

10
examples/pybullet/pybullet.c
View File

@@ -1583,6 +1583,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int reportSolverAnalytics = -1;
double warmStartingFactor = -1;
double sparseSdfVoxelSize = -1;
int physicsClientId = 0;
@@ -1611,11 +1612,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
"minimumSolverIslandSize",
"reportSolverAnalytics",
"warmStartingFactor",
"sparseSdfVoxelSize",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiiddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize,
&reportSolverAnalytics, &warmStartingFactor, &physicsClientId))
&reportSolverAnalytics, &warmStartingFactor, &sparseSdfVoxelSize, &physicsClientId))
{
return NULL;
}
@@ -1740,6 +1742,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetWarmStartingFactor(command, warmStartingFactor);
}
if (sparseSdfVoxelSize >= 0)
{
b3PhysicsParameterSetSparseSdfVoxelSize(command, sparseSdfVoxelSize);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}