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fix pybullet.c compilation for Windows

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add lego.urdf, duck.urdf (optimized using VHACD convex decomposition)
optimize Kiva shelf collision model (by hand, using boxes/Blender)
physics timescale toggle between  1 -> 0,25 -> 0
This commit is contained in:
erwincoumans
2016-09-24 11:25:05 -07:00
parent 0dfe20c036
commit f5e65197f4
13 changed files with 16333 additions and 38 deletions
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5
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -225,7 +225,8 @@ void ConvertURDF2BulletInternal(
{
btVector3 color = selectColor2();
btVector4 color = selectColor2();
u2b.getLinkColor(urdfLinkIndex,color);
/*
if (visual->material.get())
{
@@ -255,7 +256,7 @@ void ConvertURDF2BulletInternal(
btRigidBody* body = creation.allocateRigidBody(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrameInWorldSpace, compoundShape);
linkRigidBody = body;
world1->addRigidBody(body, bodyCollisionFilterGroup, bodyCollisionFilterMask);
world1->addRigidBody(body);
compoundShape->setUserIndex(graphicsIndex);

36
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1,6 +1,5 @@
#include "PhysicsServerCommandProcessor.h"
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
@@ -563,7 +562,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
m_data = new PhysicsServerCommandProcessorInternalData();
createEmptyDynamicsWorld();
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.0001;
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
}
@@ -604,7 +603,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.05;
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
}
@@ -1887,6 +1886,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
applyJointDamping(i);
}
btScalar deltaTimeScaled = m_data->m_physicsDeltaTime*simTimeScalingFactor;
if (m_data->m_numSimulationSubSteps > 0)
@@ -2820,6 +2822,7 @@ void PhysicsServerCommandProcessor::removePickingConstraint()
m_data->m_dynamicsWorld->removeConstraint(m_data->m_pickedConstraint);
delete m_data->m_pickedConstraint;
m_data->m_pickedConstraint = 0;
m_data->m_pickedBody->forceActivationState(ACTIVE_TAG);
m_data->m_pickedBody = 0;
}
if (m_data->m_pickingMultiBodyPoint2Point)
@@ -2889,11 +2892,12 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
btVector3 shiftPos = spawnDir*spawnDistance;
btVector3 spawnPos = gVRGripperPos + shiftPos;
loadUrdf("sphere_small.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("lego/lego.urdf", spawnPos, gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_sphereId = bodyId;
InteralBodyData* parentBody = m_data->getHandle(bodyId);
if (parentBody->m_multiBody)
{
parentBody->m_multiBody->setBaseVel(spawnDir * 3);
parentBody->m_multiBody->setBaseVel(spawnDir * 5);
}
}
@@ -2942,9 +2946,9 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
loadUrdf("cube.urdf", btVector3(3, -2, 0.5+i), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
loadUrdf("sphere2.urdf", btVector3(-5, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere2.urdf", btVector3(-5, 0, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere2.urdf", btVector3(-5, 0, 3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(-3, 0, .1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(-3, 0, .2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("lego/lego.urdf", btVector3(-3, 0, .3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("r2d2.urdf", btVector3(2, -2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -2973,15 +2977,27 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
}
}
#endif
//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
for (int i = 0; i < 6; i++)
{
loadUrdf("jenga/jenga.urdf", btVector3(-1-0.1*i,-0.5, .07), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
}
//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(5, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_huskyId = bodyId;
}
loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("duck_vhacd.urdf", btVector3(-0.3, 0.6, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("cup/cup_small.urdf", btVector3(-0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("cup/pitcher_small.urdf", btVector3(-0.3, 0.6, 1.15), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), gVRGripperOrn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));

14
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -1181,14 +1181,20 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
} else
{
gDebugRenderToggle = 0;
simTimeScalingFactor *= 0.5;
if (simTimeScalingFactor==0)
{
simTimeScalingFactor = 1;
}
if (simTimeScalingFactor<0.01)
} else
{
simTimeScalingFactor = 0;
if (simTimeScalingFactor==1)
{
simTimeScalingFactor = 0.25;
}
else
{
simTimeScalingFactor = 0;
}
}
}
} else

21
examples/pybullet/pybullet.c
View File

@@ -909,6 +909,11 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args) {
if (size == 2) // get body index and joint index
{
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex)) {
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle status_handle;
if (bodyIndex < 0) {
PyErr_SetString(SpamError, "getJointState failed; invalid bodyIndex");
return NULL;
@@ -918,10 +923,10 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args) {
return NULL;
}
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle =
cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle);
@@ -984,6 +989,10 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args) {
if (PySequence_Size(args) == 2) // body index and link index
{
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &linkIndex)) {
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle status_handle;
if (bodyIndex < 0) {
PyErr_SetString(SpamError, "getLinkState failed; invalid bodyIndex");
return NULL;
@@ -993,10 +1002,10 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args) {
return NULL;
}
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle =
cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle);