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implement pybullet.getContactPointData(), two optional object unique ids as filter

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returns a pylist of contact points. Each point has the following data:

	0     int m_contactFlags;//unused for now
         1     int m_bodyUniqueIdA;
         2     int m_bodyUniqueIdB;
         3     int m_linkIndexA;
         4     int m_linkIndexB;
         5-6-7     double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates
         8-9-10     double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates
         11-12-13     double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A
         14     double m_contactDistance;//negative number is penetration, positive is distance.

         15    double m_normalForce;
This commit is contained in:
Erwin Coumans
2016-09-01 18:28:39 -07:00
parent a370c3bbac
commit e98fca1e5e
8 changed files with 205 additions and 41 deletions
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35
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2151,7 +2151,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
for (int i=0;i<numContactManifolds;i++)
{
const btPersistentManifold* manifold = m_data->m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i];
int linkIndexA = -1;
int linkIndexB = -1;
int objectIndexB = -1;
const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
@@ -2162,6 +2164,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
if (mblB && mblB->m_multiBody)
{
linkIndexB = mblB->m_link;
objectIndexB = mblB->m_multiBody->getUserIndex2();
}
@@ -2174,12 +2177,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
const btMultiBodyLinkCollider* mblA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
if (mblA && mblA->m_multiBody)
{
linkIndexA = mblA->m_link;
objectIndexA = mblA->m_multiBody->getUserIndex2();
}
btAssert(bodyA || mblA);
//apply the filter, if any
//apply the filter, if the user provides it
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter>=0)
{
if ((clientCmd.m_requestContactPointArguments.m_objectAIndexFilter != objectIndexA) &&
@@ -2187,6 +2192,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
continue;
}
//apply the second object filter, if the user provides it
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter>=0)
{
if ((clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexA) &&
@@ -2196,29 +2202,23 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
for (int p=0;p<manifold->getNumContacts();p++)
{
//if the point passes the optional filter, add it
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter>=0)
{
//one of the two unique Ids has to match...
}
b3ContactPointData pt;
pt.m_bodyUniqueIdA = -1;
pt.m_bodyUniqueIdB = -1;
pt.m_bodyUniqueIdA = objectIndexA;
pt.m_bodyUniqueIdB = objectIndexB;
const btManifoldPoint& srcPt = manifold->getContactPoint(p);
pt.m_contactDistance = srcPt.getDistance();
pt.m_contactFlags = 0;
pt.m_contactPointDynamicsIndex = -1;
pt.m_linkIndexA = -1;
pt.m_linkIndexB = -1;
pt.m_linkIndexA = linkIndexA;
pt.m_linkIndexB = linkIndexB;
for (int j=0;j<3;j++)
{
pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j];
pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j];
pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
}
pt.m_normalForce = srcPt.getAppliedImpulse()/m_data->m_physicsDeltaTime;
// pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1;
m_data->m_cachedContactPoints.push_back (pt);
}
}
@@ -2298,8 +2298,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
// Set the gravity to correspond to the world gravity
btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity());
if (-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force) &&
-1 != tree->setGravityInWorldFrame(id_grav))
if (-1 != tree->setGravityInWorldFrame(id_grav) &&
-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
{
serverCmd.m_inverseDynamicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId;
serverCmd.m_inverseDynamicsResultArgs.m_dofCount = num_dofs;
@@ -2649,7 +2650,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &bufferServerToClient[0], bufferServerToClient.size());
}
m_data->m_dynamicsWorld->stepSimulation(dtInSec,10,1./240.);
m_data->m_dynamicsWorld->stepSimulation(dtInSec,10,m_data->m_physicsDeltaTime);
}
}