From c6fefb10182358a35f3877c3a22deeeb52a9265f Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 25 Jan 2018 12:11:22 -0800 Subject: [PATCH 1/9] remove useless gym env --- examples/pybullet/gym/pybullet_envs/__init__.py | 6 ------ 1 file changed, 6 deletions(-) diff --git a/examples/pybullet/gym/pybullet_envs/__init__.py b/examples/pybullet/gym/pybullet_envs/__init__.py index a605dafc4..c8764cd59 100644 --- a/examples/pybullet/gym/pybullet_envs/__init__.py +++ b/examples/pybullet/gym/pybullet_envs/__init__.py @@ -38,12 +38,6 @@ register( reward_threshold=5.0, ) -register( - id='SimpleHumanoidBulletEnv-v0', - entry_point='pybullet_envs.bullet:SimpleHumanoidGymEnv', - timestep_limit=1000, - reward_threshold=5.0, -) register( id='KukaBulletEnv-v0', From bddbb3f9dd5f9a689e0b2ce7dbb8f39c34dbbc5d Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 25 Jan 2018 16:02:47 -0800 Subject: [PATCH 2/9] TinyRenderer color pick: fix out-of-bounds issue --- .../tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp index 8697f0b60..c399a2c65 100644 --- a/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp @@ -590,6 +590,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes( int colorIndex = linkIndex;//colObj? colObj->getBroadphaseHandle()->getUid() & 3 : 0; if (colorIndex<0) colorIndex=0; + colorIndex &=3; btVector4 color; color = sColors[colorIndex]; float rgbaColor[4] = {color[0],color[1],color[2],color[3]}; From 1b5676c9dad6705626713b77aa9e80b3adcf0c7a Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 26 Jan 2018 17:37:00 -0800 Subject: [PATCH 3/9] bump up pybullet version --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 24b81a467..25df8fd03 100644 --- a/setup.py +++ b/setup.py @@ -444,7 +444,7 @@ print("-----") setup( name = 'pybullet', - version='1.8.4', + version='1.8.5', description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.', url='https://github.com/bulletphysics/bullet3', From cb0e7404221b92cfb85ba2765a20342b9f69a026 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 27 Jan 2018 10:25:26 -0800 Subject: [PATCH 4/9] fix error in __init__.py --- examples/pybullet/gym/pybullet_envs/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/gym/pybullet_envs/__init__.py b/examples/pybullet/gym/pybullet_envs/__init__.py index d4c81d0a7..5dddff7e9 100644 --- a/examples/pybullet/gym/pybullet_envs/__init__.py +++ b/examples/pybullet/gym/pybullet_envs/__init__.py @@ -1,7 +1,7 @@ import gym from gym.envs.registration import registry, make, spec def register(id,*args,**kvargs): - if id inĀ  registry.env_specs: + if id in registry.env_specs: return else: return gym.envs.registration.register(id,*args,**kvargs) From e70470656a59bef96b5f0b1bc766ba1d0d2b412d Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 27 Jan 2018 10:25:55 -0800 Subject: [PATCH 5/9] PyBullet: bump up version to 1.8.6 --- setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 25df8fd03..34d5b3300 100644 --- a/setup.py +++ b/setup.py @@ -444,7 +444,7 @@ print("-----") setup( name = 'pybullet', - version='1.8.5', + version='1.8.6', description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.', url='https://github.com/bulletphysics/bullet3', From 5776f61a739bc782f68b075548a8ef4da3106f7e Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 29 Jan 2018 19:16:01 -0800 Subject: [PATCH 6/9] fix issue that prevents p/invoke c# generation from PhysicsClientC_API.h --- examples/SharedMemory/PhysicsClientC_API.cpp | 2 +- examples/SharedMemory/PhysicsClientC_API.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index c83a8515e..0ee22969b 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -2203,7 +2203,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle comman return 0; } -B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[3]) +B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO); diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index e7f283026..34f5d9f31 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -116,7 +116,7 @@ B3_SHARED_API int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, str B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physClient); B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass); -B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[3]); +B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[]); B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction); B3_SHARED_API int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction); From 40482e0925e6a2f572e2402cbd7404b4ec162774 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 29 Jan 2018 19:19:34 -0800 Subject: [PATCH 7/9] fix urdfEditor.py --- examples/pybullet/examples/urdfEditor.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/examples/urdfEditor.py b/examples/pybullet/examples/urdfEditor.py index 4ace93580..f2dfb8cf1 100644 --- a/examples/pybullet/examples/urdfEditor.py +++ b/examples/pybullet/examples/urdfEditor.py @@ -523,7 +523,7 @@ p.resetSimulation(physicsClientId=org) -mb = p.loadURDF("r2d2.urdf", physicsClientId=org) +mb = p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER, physicsClientId=org) for i in range(p.getNumJoints(mb,physicsClientId=org)): p.setJointMotorControl2(mb,i,p.VELOCITY_CONTROL,force=0,physicsClientId=org) From e88dca3152011be03ece926ff3bc45d3e9ead231 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 31 Jan 2018 09:07:31 -0800 Subject: [PATCH 8/9] update autogenerated NativeMethods.cs from latest PhysicsClientC_Api.h --- .../pybullet/unity3d/autogen/NativeMethods.cs | 514 ++++++++++++++++-- 1 file changed, 483 insertions(+), 31 deletions(-) diff --git a/examples/pybullet/unity3d/autogen/NativeMethods.cs b/examples/pybullet/unity3d/autogen/NativeMethods.cs index ec5e1543f..532eef557 100644 --- a/examples/pybullet/unity3d/autogen/NativeMethods.cs +++ b/examples/pybullet/unity3d/autogen/NativeMethods.cs @@ -21,8 +21,11 @@ public partial class NativeConstants { /// SHARED_MEMORY_KEY -> 12347 public const int SHARED_MEMORY_KEY = 12347; - /// SHARED_MEMORY_MAGIC_NUMBER -> 201709260 - public const int SHARED_MEMORY_MAGIC_NUMBER = 201709260; + /// SHARED_MEMORY_MAGIC_NUMBER -> 201801170 + public const int SHARED_MEMORY_MAGIC_NUMBER = 201801170; + + /// MAX_VR_ANALOG_AXIS -> 5 + public const int MAX_VR_ANALOG_AXIS = 5; /// MAX_VR_BUTTONS -> 64 public const int MAX_VR_BUTTONS = 64; @@ -42,6 +45,9 @@ public partial class NativeConstants { /// MAX_MOUSE_EVENTS -> 256 public const int MAX_MOUSE_EVENTS = 256; + /// MAX_SDF_BODIES -> 512 + public const int MAX_SDF_BODIES = 512; + /// VISUAL_SHAPE_MAX_PATH_LEN -> 1024 public const int VISUAL_SHAPE_MAX_PATH_LEN = 1024; @@ -92,7 +98,7 @@ public enum EnumSharedMemoryClientCommand { CMD_LOAD_MJCF, - CMD_LOAD_BUNNY, + CMD_LOAD_SOFT_BODY, CMD_SEND_BULLET_DATA_STREAM, @@ -138,6 +144,8 @@ public enum EnumSharedMemoryClientCommand { CMD_CALCULATE_JACOBIAN, + CMD_CALCULATE_MASS_MATRIX, + CMD_USER_CONSTRAINT, CMD_REQUEST_CONTACT_POINT_INFORMATION, @@ -196,6 +204,14 @@ public enum EnumSharedMemoryClientCommand { CMD_CUSTOM_COMMAND, + CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS, + + CMD_SAVE_STATE, + + CMD_RESTORE_STATE, + + CMD_REQUEST_COLLISION_SHAPE_INFO, + CMD_MAX_CLIENT_COMMANDS, } @@ -276,6 +292,10 @@ public enum EnumSharedMemoryServerStatus { CMD_CALCULATED_JACOBIAN_FAILED, + CMD_CALCULATED_MASS_MATRIX_COMPLETED, + + CMD_CALCULATED_MASS_MATRIX_FAILED, + CMD_CONTACT_POINT_INFORMATION_COMPLETED, CMD_CONTACT_POINT_INFORMATION_FAILED, @@ -314,6 +334,8 @@ public enum EnumSharedMemoryServerStatus { CMD_USER_CONSTRAINT_INFO_COMPLETED, + CMD_USER_CONSTRAINT_REQUEST_STATE_COMPLETED, + CMD_REMOVE_USER_CONSTRAINT_COMPLETED, CMD_CHANGE_USER_CONSTRAINT_COMPLETED, @@ -378,6 +400,24 @@ public enum EnumSharedMemoryServerStatus { CMD_CUSTOM_COMMAND_FAILED, + CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED, + + CMD_SAVE_STATE_FAILED, + + CMD_SAVE_STATE_COMPLETED, + + CMD_RESTORE_STATE_FAILED, + + CMD_RESTORE_STATE_COMPLETED, + + CMD_COLLISION_SHAPE_INFO_COMPLETED, + + CMD_COLLISION_SHAPE_INFO_FAILED, + + CMD_LOAD_SOFT_BODY_FAILED, + + CMD_LOAD_SOFT_BODY_COMPLETED, + CMD_MAX_SERVER_COMMANDS, } @@ -423,15 +463,15 @@ public enum b3JointInfoFlags { eJointChangeChildFrameOrientation = 4, } -[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)] +[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)] public struct b3JointInfo { - + /// char[1024] - [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)] + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)] public string m_linkName; - + /// char[1024] - [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)] + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)] public string m_jointName; /// int @@ -478,6 +518,9 @@ public struct b3JointInfo { /// double[3] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)] public double[] m_jointAxis; + + /// int + public int m_parentIndex; } [System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)] @@ -529,15 +572,15 @@ public struct b3UserConstraint { public double m_erp; } -[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)] +[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)] public struct b3BodyInfo { - + /// char[1024] - [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)] + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)] public string m_baseName; - + /// char[1024] - [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 1024)] + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)] public string m_bodyName; } @@ -549,10 +592,29 @@ public struct b3DynamicsInfo { /// double[3] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)] - public double[] m_localInertialPosition; + public double[] m_localInertialDiagonal; + + /// double[7] + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)] + public double[] m_localInertialFrame; /// double public double m_lateralFrictionCoeff; + + /// double + public double m_rollingFrictionCoeff; + + /// double + public double m_spinningFrictionCoeff; + + /// double + public double m_restitution; + + /// double + public double m_contactStiffness; + + /// double + public double m_contactDamping; } public enum SensorType { @@ -624,7 +686,8 @@ public struct b3CameraImageData { public int m_pixelHeight; /// char* - public System.IntPtr m_rgbColorData; + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] + public string m_rgbColorData; /// float* public System.IntPtr m_depthValues; @@ -680,6 +743,17 @@ public struct b3OpenGLVisualizerCameraInfo { public float[] m_target; } +[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)] +public struct b3UserConstraintState { + + /// double[6] + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=6, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)] + public double[] m_appliedConstraintForces; + + /// int + public int m_numDofs; +} + public enum b3VREventType { /// VR_CONTROLLER_MOVE_EVENT -> 1 @@ -751,6 +825,9 @@ public struct b3VRControllerEvent { /// float public float m_analogAxis; + /// float[] + public float[] m_auxAnalogAxis; + /// int[64] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=64, ArraySubType=System.Runtime.InteropServices.UnmanagedType.I4)] public int[] m_buttons; @@ -965,6 +1042,41 @@ public struct b3VisualShapeInformation { public System.IntPtr m_visualShapeData; } +[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential, CharSet=System.Runtime.InteropServices.CharSet.Ansi)] +public struct b3CollisionShapeData { + + /// int + public int m_objectUniqueId; + + /// int + public int m_linkIndex; + + /// int + public int m_collisionGeometryType; + + /// double[3] + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)] + public double[] m_dimensions; + + /// double[7] + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=7, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)] + public double[] m_localCollisionFrame; + + /// char[1024] + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst=1024)] + public string m_meshAssetFileName; +} + +[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)] +public struct b3CollisionShapeInformation { + + /// int + public int m_numCollisionShapes; + + /// b3CollisionShapeData* + public System.IntPtr m_collisionShapeData; +} + public enum eLinkStateFlags { /// ACTUAL_STATE_COMPUTE_LINKVELOCITY -> 1 @@ -1036,6 +1148,33 @@ public enum EnumRenderer { ER_BULLET_HARDWARE_OPENGL = (1) << (17), } +public enum EnumRendererAuxFlags { + + /// ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX -> 1 + ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX = 1, +} + +public enum EnumCalculateInverseKinematicsFlags { + + /// IK_DLS -> 0 + IK_DLS = 0, + + /// IK_SDLS -> 1 + IK_SDLS = 1, + + /// IK_HAS_TARGET_POSITION -> 16 + IK_HAS_TARGET_POSITION = 16, + + /// IK_HAS_TARGET_ORIENTATION -> 32 + IK_HAS_TARGET_ORIENTATION = 32, + + /// IK_HAS_NULL_SPACE_VELOCITY -> 64 + IK_HAS_NULL_SPACE_VELOCITY = 64, + + /// IK_HAS_JOINT_DAMPING -> 128 + IK_HAS_JOINT_DAMPING = 128, +} + public enum b3ConfigureDebugVisualizerEnum { /// COV_ENABLE_GUI -> 1 @@ -1058,12 +1197,22 @@ public enum b3ConfigureDebugVisualizerEnum { COV_ENABLE_KEYBOARD_SHORTCUTS, COV_ENABLE_MOUSE_PICKING, + + COV_ENABLE_Y_AXIS_UP, + + COV_ENABLE_TINY_RENDERER, + + COV_ENABLE_RGB_BUFFER_PREVIEW, + + COV_ENABLE_DEPTH_BUFFER_PREVIEW, + + COV_ENABLE_SEGMENTATION_MARK_PREVIEW, } public enum b3AddUserDebugItemEnum { - /// DEB_DEBUG_TEXT_USE_ORIENTATION -> 1 - DEB_DEBUG_TEXT_USE_ORIENTATION = 1, + /// DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA -> 1 + DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA = 1, /// DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS -> 2 DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS = 2, @@ -1112,6 +1261,15 @@ public enum eURDF_Flags { /// URDF_RESERVED -> 64 URDF_RESERVED = 64, + + /// URDF_USE_IMPLICIT_CYLINDER -> 128 + URDF_USE_IMPLICIT_CYLINDER = 128, + + /// URDF_GLOBAL_VELOCITIES_MB -> 256 + URDF_GLOBAL_VELOCITIES_MB = 256, + + /// MJCF_COLORS_FROM_FILE -> 512 + MJCF_COLORS_FROM_FILE = 512, } public enum eUrdfGeomTypes { @@ -1138,6 +1296,15 @@ public enum eUrdfCollisionFlags { GEOM_FORCE_CONCAVE_TRIMESH = 1, } +public enum eUrdfVisualFlags { + + /// GEOM_VISUAL_HAS_RGBA_COLOR -> 1 + GEOM_VISUAL_HAS_RGBA_COLOR = 1, + + /// GEOM_VISUAL_HAS_SPECULAR_COLOR -> 2 + GEOM_VISUAL_HAS_SPECULAR_COLOR = 2, +} + public enum eStateLoggingFlags { /// STATE_LOG_JOINT_MOTOR_TORQUES -> 1 @@ -1167,9 +1334,65 @@ public struct b3PluginArguments { /// int public int m_numFloats; - /// int[128] - [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=128, ArraySubType=System.Runtime.InteropServices.UnmanagedType.I4)] - public int[] m_floats; + /// double[128] + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=128, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)] + public double[] m_floats; +} + +[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)] +public struct b3PhysicsSimulationParameters { + + /// double + public double m_deltaTime; + + /// double[3] + [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst=3, ArraySubType=System.Runtime.InteropServices.UnmanagedType.R8)] + public double[] m_gravityAcceleration; + + /// int + public int m_numSimulationSubSteps; + + /// int + public int m_numSolverIterations; + + /// int + public int m_useRealTimeSimulation; + + /// int + public int m_useSplitImpulse; + + /// double + public double m_splitImpulsePenetrationThreshold; + + /// double + public double m_contactBreakingThreshold; + + /// int + public int m_internalSimFlags; + + /// double + public double m_defaultContactERP; + + /// int + public int m_collisionFilterMode; + + /// int + public int m_enableFileCaching; + + /// double + public double m_restitutionVelocityThreshold; + + /// double + public double m_defaultNonContactERP; + + /// double + public double m_frictionERP; + + /// int + public int m_enableConeFriction; + + /// int + public int m_deterministicOverlappingPairs; } [System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)] @@ -1194,9 +1417,8 @@ public struct b3SharedMemoryStatusHandle__ { } public partial class NativeMethods { - + const string dllName = "pybullet_vs2010_x64_release.dll"; - /// Return Type: b3PhysicsClientHandle->b3PhysicsClientHandle__* ///key: int [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ConnectSharedMemory")] @@ -1330,6 +1552,13 @@ public static extern System.IntPtr b3CreateCustomCommand(IntPtr physClient) ; public static extern void b3CustomCommandLoadPlugin(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string pluginPath) ; + /// Return Type: void + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///postFix: char* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CustomCommandLoadPluginSetPostFix")] +public static extern void b3CustomCommandLoadPluginSetPostFix(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string postFix) ; + + /// Return Type: int ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__* [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusPluginUniqueId")] @@ -1445,7 +1674,7 @@ public static extern int b3GetBodyUniqueId(IntPtr physClient, int serialIndex) ///bodyUniqueId: int ///info: b3BodyInfo* [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetBodyInfo")] - public static extern int b3GetBodyInfo(IntPtr physClient, int bodyUniqueId, ref b3BodyInfo info) ; +public static extern int b3GetBodyInfo(IntPtr physClient, int bodyUniqueId, ref b3BodyInfo info) ; /// Return Type: int @@ -1494,6 +1723,15 @@ public static extern System.IntPtr b3InitChangeDynamicsInfo(IntPtr physClient) public static extern int b3ChangeDynamicsInfoSetMass(IntPtr commandHandle, int bodyUniqueId, int linkIndex, double mass) ; + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///bodyUniqueId: int + ///linkIndex: int + ///localInertiaDiagonal: double* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3ChangeDynamicsInfoSetLocalInertiaDiagonal")] +public static extern int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(IntPtr commandHandle, int bodyUniqueId, int linkIndex, ref double localInertiaDiagonal) ; + + /// Return Type: int ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* ///bodyUniqueId: int @@ -1651,6 +1889,20 @@ public static extern System.IntPtr b3InitRemoveUserConstraintCommand(IntPtr phy public static extern int b3GetNumUserConstraints(IntPtr physClient) ; + /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* + ///constraintUniqueId: int + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitGetUserConstraintStateCommand")] +public static extern System.IntPtr b3InitGetUserConstraintStateCommand(IntPtr physClient, int constraintUniqueId) ; + + + /// Return Type: int + ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__* + ///constraintState: b3UserConstraintState* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusUserConstraintState")] +public static extern int b3GetStatusUserConstraintState(IntPtr statusHandle, ref b3UserConstraintState constraintState) ; + + /// Return Type: int ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* ///constraintUniqueId: int @@ -1753,6 +2005,13 @@ public static extern void b3UserDebugTextSetOptionFlags(IntPtr commandHandle, i public static extern void b3UserDebugTextSetOrientation(IntPtr commandHandle, ref double orientation) ; + /// Return Type: void + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///replaceItem: int + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3UserDebugItemSetReplaceItemUniqueId")] +public static extern void b3UserDebugItemSetReplaceItemUniqueId(IntPtr commandHandle, int replaceItem) ; + + /// Return Type: void ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* ///objectUniqueId: int @@ -1905,6 +2164,13 @@ public static extern void b3RequestCameraImageSetShadow(IntPtr commandHandle, i public static extern void b3RequestCameraImageSelectRenderer(IntPtr commandHandle, int renderer) ; + /// Return Type: void + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///flags: int + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3RequestCameraImageSetFlags")] +public static extern void b3RequestCameraImageSetFlags(IntPtr commandHandle, int flags) ; + + /// Return Type: void ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* ///imageData: b3CameraImageData* @@ -2125,6 +2391,21 @@ public static extern System.IntPtr b3InitRequestVisualShapeInformation(IntPtr p public static extern void b3GetVisualShapeInformation(IntPtr physClient, ref b3VisualShapeInformation visualShapeInfo) ; + /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* + ///bodyUniqueId: int + ///linkIndex: int + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestCollisionShapeInformation")] +public static extern System.IntPtr b3InitRequestCollisionShapeInformation(IntPtr physClient, int bodyUniqueId, int linkIndex) ; + + + /// Return Type: void + ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* + ///collisionShapeInfo: b3CollisionShapeInformation* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetCollisionShapeInformation")] +public static extern void b3GetCollisionShapeInformation(IntPtr physClient, ref b3CollisionShapeInformation collisionShapeInfo) ; + + /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* ///filename: char* @@ -2285,6 +2566,33 @@ public static extern int b3PhysicsParamSetEnableFileCaching(IntPtr commandHandl public static extern int b3PhysicsParamSetRestitutionVelocityThreshold(IntPtr commandHandle, double restitutionVelocityThreshold) ; + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///enableConeFriction: int + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParamSetEnableConeFriction")] +public static extern int b3PhysicsParamSetEnableConeFriction(IntPtr commandHandle, int enableConeFriction) ; + + + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///deterministicOverlappingPairs: int + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3PhysicsParameterSetDeterministicOverlappingPairs")] +public static extern int b3PhysicsParameterSetDeterministicOverlappingPairs(IntPtr commandHandle, int deterministicOverlappingPairs) ; + + + /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3InitRequestPhysicsParamCommand")] +public static extern System.IntPtr b3InitRequestPhysicsParamCommand(IntPtr physClient) ; + + + /// Return Type: int + ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__* + ///params: b3PhysicsSimulationParameters* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusPhysicsSimulationParameters")] +public static extern int b3GetStatusPhysicsSimulationParameters(IntPtr statusHandle, ref b3PhysicsSimulationParameters @params) ; + + /// Return Type: int ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* ///flags: int @@ -2358,6 +2666,38 @@ public static extern int b3LoadUrdfCommandSetFlags(IntPtr commandHandle, int fl public static extern int b3LoadUrdfCommandSetGlobalScaling(IntPtr commandHandle, double globalScaling) ; + /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3SaveStateCommandInit")] +public static extern System.IntPtr b3SaveStateCommandInit(IntPtr physClient) ; + + + /// Return Type: int + ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusGetStateId")] +public static extern int b3GetStatusGetStateId(IntPtr statusHandle) ; + + + /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateCommandInit")] +public static extern System.IntPtr b3LoadStateCommandInit(IntPtr physClient) ; + + + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///stateId: int + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateSetStateId")] +public static extern int b3LoadStateSetStateId(IntPtr commandHandle, int stateId) ; + + + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///fileName: char* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadStateSetFileName")] +public static extern int b3LoadStateSetFileName(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ; + + /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* ///fileName: char* @@ -2426,6 +2766,23 @@ public static extern System.IntPtr b3CalculateJacobianCommandInit(IntPtr physCl public static extern int b3GetStatusJacobian(IntPtr statusHandle, ref int dofCount, ref double linearJacobian, ref double angularJacobian) ; + /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* + ///bodyIndex: int + ///jointPositionsQ: double* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateMassMatrixCommandInit")] +public static extern System.IntPtr b3CalculateMassMatrixCommandInit(IntPtr physClient, int bodyIndex, ref double jointPositionsQ) ; + + + /// Return Type: int + ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* + ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__* + ///dofCount: int* + ///massMatrix: double* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusMassMatrix")] +public static extern int b3GetStatusMassMatrix(IntPtr physClient, IntPtr statusHandle, ref int dofCount, ref double massMatrix) ; + + /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* ///bodyIndex: int @@ -2485,6 +2842,13 @@ public static extern void b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(In public static extern void b3CalculateInverseKinematicsSetJointDamping(IntPtr commandHandle, int numDof, ref double jointDampingCoeff) ; + /// Return Type: void + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///solver: int + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CalculateInverseKinematicsSelectSolver")] +public static extern void b3CalculateInverseKinematicsSelectSolver(IntPtr commandHandle, int solver) ; + + /// Return Type: int ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__* ///bodyUniqueId: int* @@ -2561,6 +2925,14 @@ public static extern int b3JointControlSetKp(IntPtr commandHandle, int dofIndex public static extern int b3JointControlSetKd(IntPtr commandHandle, int dofIndex, double value) ; + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///dofIndex: int + ///maximumVelocity: double + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3JointControlSetMaximumVelocity")] +public static extern int b3JointControlSetMaximumVelocity(IntPtr commandHandle, int dofIndex, double maximumVelocity) ; + + /// Return Type: int ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* ///dofIndex: int @@ -2666,6 +3038,85 @@ public static extern int b3GetStatusCollisionShapeUniqueId(IntPtr statusHandle) public static extern System.IntPtr b3CreateVisualShapeCommandInit(IntPtr physClient) ; + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///radius: double + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddSphere")] +public static extern int b3CreateVisualShapeAddSphere(IntPtr commandHandle, double radius) ; + + + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///halfExtents: double* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddBox")] +public static extern int b3CreateVisualShapeAddBox(IntPtr commandHandle, ref double halfExtents) ; + + + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///radius: double + ///height: double + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddCapsule")] +public static extern int b3CreateVisualShapeAddCapsule(IntPtr commandHandle, double radius, double height) ; + + + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///radius: double + ///height: double + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddCylinder")] +public static extern int b3CreateVisualShapeAddCylinder(IntPtr commandHandle, double radius, double height) ; + + + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///planeNormal: double* + ///planeConstant: double + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddPlane")] +public static extern int b3CreateVisualShapeAddPlane(IntPtr commandHandle, ref double planeNormal, double planeConstant) ; + + + /// Return Type: int + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///fileName: char* + ///meshScale: double* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeAddMesh")] +public static extern int b3CreateVisualShapeAddMesh(IntPtr commandHandle, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName, ref double meshScale) ; + + + /// Return Type: void + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///shapeIndex: int + ///flags: int + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualSetFlag")] +public static extern void b3CreateVisualSetFlag(IntPtr commandHandle, int shapeIndex, int flags) ; + + + /// Return Type: void + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///shapeIndex: int + ///childPosition: double* + ///childOrientation: double* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetChildTransform")] +public static extern void b3CreateVisualShapeSetChildTransform(IntPtr commandHandle, int shapeIndex, ref double childPosition, ref double childOrientation) ; + + + /// Return Type: void + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///shapeIndex: int + ///specularColor: double* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetSpecularColor")] +public static extern void b3CreateVisualShapeSetSpecularColor(IntPtr commandHandle, int shapeIndex, ref double specularColor) ; + + + /// Return Type: void + ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* + ///shapeIndex: int + ///rgbaColor: double* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3CreateVisualShapeSetRGBAColor")] +public static extern void b3CreateVisualShapeSetRGBAColor(IntPtr commandHandle, int shapeIndex, ref double rgbaColor) ; + + /// Return Type: int ///statusHandle: b3SharedMemoryStatusHandle->b3SharedMemoryStatusHandle__* [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3GetStatusVisualShapeUniqueId")] @@ -3000,29 +3451,30 @@ public static extern void b3ApplyExternalTorque(IntPtr commandHandle, int bodyU /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* ///physClient: b3PhysicsClientHandle->b3PhysicsClientHandle__* - [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnyCommandInit")] -public static extern System.IntPtr b3LoadBunnyCommandInit(IntPtr physClient) ; + ///fileName: char* + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodyCommandInit")] +public static extern System.IntPtr b3LoadSoftBodyCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string fileName) ; /// Return Type: int ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* ///scale: double - [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnySetScale")] -public static extern int b3LoadBunnySetScale(IntPtr commandHandle, double scale) ; + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetScale")] +public static extern int b3LoadSoftBodySetScale(IntPtr commandHandle, double scale) ; /// Return Type: int ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* ///mass: double - [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnySetMass")] -public static extern int b3LoadBunnySetMass(IntPtr commandHandle, double mass) ; + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetMass")] +public static extern int b3LoadSoftBodySetMass(IntPtr commandHandle, double mass) ; /// Return Type: int ///commandHandle: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* ///collisionMargin: double - [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadBunnySetCollisionMargin")] -public static extern int b3LoadBunnySetCollisionMargin(IntPtr commandHandle, double collisionMargin) ; + [System.Runtime.InteropServices.DllImportAttribute(dllName, EntryPoint="b3LoadSoftBodySetCollisionMargin")] +public static extern int b3LoadSoftBodySetCollisionMargin(IntPtr commandHandle, double collisionMargin) ; /// Return Type: b3SharedMemoryCommandHandle->b3SharedMemoryCommandHandle__* From 13d67e8fc3ad42cbc7b1482d45c40dead3ec9e02 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 31 Jan 2018 22:17:15 -0800 Subject: [PATCH 9/9] add bicycle resources and testBike.py script (use python -m pybullet_envs.examples.testBike after pip install pybullet) center shadow around camera target --- .../OpenGLWindow/GLInstancingRenderer.cpp | 3 +- .../gym/pybullet_data/bicycle/LICENSE.txt | 362 ++++++++++++++++++ .../gym/pybullet_data/bicycle/bike.urdf | 143 +++++++ .../bicycle/files/all_pedal_parts.stl | Bin 0 -> 127684 bytes .../pybullet_data/bicycle/files/bike_rack.stl | Bin 0 -> 102584 bytes .../bicycle/files/frame_scaled.stl | Bin 0 -> 137884 bytes .../bicycle/files/frame_scaled_left.stl | Bin 0 -> 137884 bytes .../bicycle/files/frame_scaled_right.stl | Bin 0 -> 137884 bytes .../bicycle/files/handlebar_scaled.stl | Bin 0 -> 202184 bytes .../bicycle/files/wheel_axels.stl | Bin 0 -> 4484 bytes .../bicycle/files/wheel_scaled.stl | Bin 0 -> 202884 bytes .../pybullet/gym/pybullet_data/plane100.obj | 22 ++ .../pybullet/gym/pybullet_data/plane100.urdf | 26 ++ .../gym/pybullet_envs/examples/testBike.py | 137 +++++++ 14 files changed, 692 insertions(+), 1 deletion(-) create mode 100644 examples/pybullet/gym/pybullet_data/bicycle/LICENSE.txt create mode 100644 examples/pybullet/gym/pybullet_data/bicycle/bike.urdf create mode 100644 examples/pybullet/gym/pybullet_data/bicycle/files/all_pedal_parts.stl create mode 100644 examples/pybullet/gym/pybullet_data/bicycle/files/bike_rack.stl create mode 100644 examples/pybullet/gym/pybullet_data/bicycle/files/frame_scaled.stl create mode 100644 examples/pybullet/gym/pybullet_data/bicycle/files/frame_scaled_left.stl create mode 100644 examples/pybullet/gym/pybullet_data/bicycle/files/frame_scaled_right.stl create mode 100644 examples/pybullet/gym/pybullet_data/bicycle/files/handlebar_scaled.stl create mode 100644 examples/pybullet/gym/pybullet_data/bicycle/files/wheel_axels.stl create mode 100644 examples/pybullet/gym/pybullet_data/bicycle/files/wheel_scaled.stl create mode 100644 examples/pybullet/gym/pybullet_data/plane100.obj create mode 100644 examples/pybullet/gym/pybullet_data/plane100.urdf create mode 100644 examples/pybullet/gym/pybullet_envs/examples/testBike.py diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp index e9f1194fe..c7cac6709 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.cpp +++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp @@ -2085,13 +2085,14 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode) b3CreateOrtho(-shadowMapWorldSize,shadowMapWorldSize,-shadowMapWorldSize,shadowMapWorldSize,1,300,depthProjectionMatrix);//-14,14,-14,14,1,200, depthProjectionMatrix); float depthViewMatrix[4][4]; b3Vector3 center = b3MakeVector3(0,0,0); + m_data->m_activeCamera->getCameraTargetPosition(center); //float upf[3]; //m_data->m_activeCamera->getCameraUpVector(upf); b3Vector3 up, lightFwd; b3Vector3 lightDir = m_data->m_lightPos.normalized(); b3PlaneSpace1(lightDir,up,lightFwd); // b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]); - b3CreateLookAt(m_data->m_lightPos,center,up,&depthViewMatrix[0][0]); + b3CreateLookAt(m_data->m_lightPos+center,center,up,&depthViewMatrix[0][0]); //b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2); GLfloat depthModelMatrix[4][4]; diff --git a/examples/pybullet/gym/pybullet_data/bicycle/LICENSE.txt b/examples/pybullet/gym/pybullet_data/bicycle/LICENSE.txt new file mode 100644 index 000000000..e6e493d49 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/bicycle/LICENSE.txt @@ -0,0 +1,362 @@ +Functional Bicycle (http://www.thingiverse.com/thing:309158) by thomasgivan is licensed under the Creative Commons - Attribution - Share Alike license. +http://creativecommons.org/licenses/by-sa/3.0/ + +Creative Commons Legal Code + +Attribution-ShareAlike 3.0 Unported + + CREATIVE COMMONS CORPORATION IS NOT A LAW FIRM AND DOES NOT PROVIDE + LEGAL SERVICES. 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zOA&*0-S%ES^Y<7h?w%BV}MYz!ZLwh30SA677)&@?lAxdt{T zejBa4)!-9AoD7H^0inMrgspjQXIQptcHJfWWKC|ZNfme9gW3~b;vT42mFqrzK>p2(%Th6TZLyTyfh{5M3D=&wK%Q7?eln6&fOs3q7Rk70l8c361- z(DA}Cu6TZ4TtH^|smLmC6s4Z1x}kB5uj9Ts_-ZitssnPwD}=T(T6wG5D)8=m;N4HB zHqDG*sl6(M@vhf*|95}eY;>a|vb`o$1T$A%M5%zf89BuAJ1T`kJG&OE0TQtuNBV z#^ZM=8Rp=0p8C=$*)4~L>!Hwd9vYM0F#LCSYQxI{(x)|~&s}%a1oNZ$en+ju z`SAqKkL~;S%}i#HJ|SG>vT^5dESdl(DUU@aR9>@YzWR@28Yx0WU zI(8JHu2Xh5>N|ab+D>{a(!HWGCW@|}^m9DB@%hO-RFBYK6hb8td?x0vi0h(CMQc>3 L&|efH+=KrguoeqX literal 0 HcmV?d00001 diff --git a/examples/pybullet/gym/pybullet_data/plane100.obj b/examples/pybullet/gym/pybullet_data/plane100.obj new file mode 100644 index 000000000..3a74f590b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/plane100.obj @@ -0,0 +1,22 @@ +# Blender v2.66 (sub 1) OBJ File: '' +# www.blender.org +mtllib plane.mtl +o Plane +v 100.000000 -100.000000 0.000000 +v 100.000000 100.000000 0.000000 +v -100.000000 100.000000 0.000000 +v -100.000000 -100.000000 0.000000 + +vt 100.000000 0.000000 +vt 100.000000 100.000000 +vt 0.000000 100.000000 +vt 0.000000 0.000000 + + + +usemtl Material +s off +f 1/1 2/2 3/3 +f 1/1 3/3 4/4 + + diff --git a/examples/pybullet/gym/pybullet_data/plane100.urdf b/examples/pybullet/gym/pybullet_data/plane100.urdf new file mode 100644 index 000000000..f83006900 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/plane100.urdf @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_envs/examples/testBike.py b/examples/pybullet/gym/pybullet_envs/examples/testBike.py new file mode 100644 index 000000000..3d6e89c91 --- /dev/null +++ b/examples/pybullet/gym/pybullet_envs/examples/testBike.py @@ -0,0 +1,137 @@ +import pybullet as p +import math +import time +import pybullet_data + +p.connect(p.GUI) +#p.loadURDF("wheel.urdf",[0,0,3]) +p.setAdditionalSearchPath(pybullet_data.getDataPath()) +plane=p.loadURDF("plane100.urdf",[0,0,0]) +timestep = 1./240. + +bike=-1 +for i in range (1): + + bike=p.loadURDF("bicycle/bike.urdf",[0,0+3*i,1.5], [0,0,0,1], useFixedBase=False) + p.setJointMotorControl2(bike,0,p.VELOCITY_CONTROL,targetVelocity=0,force=0.05) + #p.setJointMotorControl2(bike,1,p.VELOCITY_CONTROL,targetVelocity=5, force=1000) + p.setJointMotorControl2(bike,1,p.VELOCITY_CONTROL,targetVelocity=5, force=0) + p.setJointMotorControl2(bike,2,p.VELOCITY_CONTROL,targetVelocity=15, force=20) + + p.changeDynamics(plane,-1, mass=20,lateralFriction=1, linearDamping=0, angularDamping=0) + p.changeDynamics(bike,1,lateralFriction=1,linearDamping=0, angularDamping=0) + p.changeDynamics(bike,2,lateralFriction=1,linearDamping=0, angularDamping=0) + #p.resetJointState(bike,1,0,100) + #p.resetJointState(bike,2,0,100) + #p.resetBaseVelocity(bike,[0,0,0],[0,0,0]) +#p.setPhysicsEngineParameter(numSubSteps=0) +#bike=p.loadURDF("frame.urdf",useFixedBase=True) +#bike = p.loadURDF("handlebar.urdf", useFixedBase=True) +#p.loadURDF("handlebar.urdf",[0,2,1]) +#coord = p.loadURDF("handlebar.urdf", [0.7700000000000005, 0, 0.22000000000000006],useFixedBase=True)# p.loadURDF("coordinateframe.urdf",[-2,0,1],useFixedBase=True) +#coord = p.loadURDF("coordinateframe.urdf",[-2,0,1],useFixedBase=True) +p.setGravity(0,0,-10) +p.setRealTimeSimulation(0) +#coordPos = [0,0,0] +#coordOrnEuler = [0,0,0] + +#coordPos= [0.7000000000000004, 0, 0.22000000000000006] +#coordOrnEuler= [0, -0.2617993877991496, 0] + +coordPos= [0.07, 0, -0.6900000000000004] +coordOrnEuler= [0, 0, 0] + +coordPos2= [0, 0, 0 ] +coordOrnEuler2= [0, 0, 0] + +invPos,invOrn=p.invertTransform(coordPos,p.getQuaternionFromEuler(coordOrnEuler)) +mPos,mOrn = p.multiplyTransforms(invPos,invOrn, coordPos2,p.getQuaternionFromEuler(coordOrnEuler2)) +eul = p.getEulerFromQuaternion(mOrn) +print("rpy=\"",eul[0],eul[1],eul[2],"\" xyz=\"", mPos[0],mPos[1], mPos[2]) + + +shift=0 +gui = 1 + + +frame=0 +states=[] +states.append(p.saveState()) +#observations=[] +#observations.append(obs) + +running = True +reverting = False +p.getCameraImage(320,200)#,renderer=p.ER_BULLET_HARDWARE_OPENGL ) + +while (1): + + updateCam = 0 + keys = p.getKeyboardEvents() + for k,v in keys.items(): + if (reverting or (k == p.B3G_LEFT_ARROW and (v&p.KEY_WAS_TRIGGERED))): + reverting=True + stateIndex = len(states)-1 + #print("prestateIndex=",stateIndex) + time.sleep(timestep) + updateCam=1 + if (stateIndex>0): + stateIndex-=1 + states=states[:stateIndex+1] + #observations=observations[:stateIndex+1] + + + #print("states=",states) + #print("stateIndex =",stateIndex ) + p.restoreState(states[stateIndex]) + #obs=observations[stateIndex] + + + #obs, r, done, _ = env.step(a) + if (k == p.B3G_LEFT_ARROW and (v&p.KEY_WAS_RELEASED)): + reverting = False + + if (k == ord('1') and (v&p.KEY_WAS_TRIGGERED)): + gui = not gui + + + + if (k == p.B3G_RIGHT_ARROW and (v&p.KEY_WAS_RELEASED)): + running=False + + if (running or (k == p.B3G_RIGHT_ARROW and (v&p.KEY_WAS_TRIGGERED))): + running = True + + if (running): + + p.stepSimulation() + + updateCam=1 + time.sleep(timestep) + pts = p.getContactPoints() + #print("numPoints=",len(pts)) + #for point in pts: + # print("Point:bodyA=", point[1],"bodyB=",point[2],"linkA=",point[3],"linkB=",point[4],"dist=",point[8],"force=",point[9]) + + states.append(p.saveState()) + #observations.append(obs) + stateIndex = len(states) + #print("stateIndex =",stateIndex ) + frame += 1 + if (updateCam): + distance=5 + yaw = 0 + humanPos, humanOrn = p.getBasePositionAndOrientation(bike) + humanBaseVel = p.getBaseVelocity(bike) + #print("frame",frame, "humanPos=",humanPos, "humanVel=",humanBaseVel) + if (gui): + + camInfo = p.getDebugVisualizerCamera() + curTargetPos = camInfo[11] + distance=camInfo[10] + yaw = camInfo[8] + pitch=camInfo[9] + targetPos = [0.95*curTargetPos[0]+0.05*humanPos[0],0.95*curTargetPos[1]+0.05*humanPos[1],curTargetPos[2]] + p.resetDebugVisualizerCamera(distance,yaw,pitch,targetPos); + +