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expose PyBullet API to wakeup/put objects to sleep, enable/disable deactivation

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fix wakeup -> reset deactivation clock
This commit is contained in:
Erwin Coumans
2018-06-15 21:26:26 -07:00
parent bb0d70d98b
commit fbbd675ed6
8 changed files with 86 additions and 6 deletions
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11
examples/pybullet/examples/sleeping.py
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@@ -9,12 +9,18 @@ p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
p.loadURDF("plane100.urdf",flags=flags, useMaximalCoordinates=useMaximalCoordinates)
#p.loadURDF("cube_small.urdf", [0,0,0.5], flags=flags)
r2d2 = -1
for k in range (5):
for i in range (5):
r2d2=p.loadURDF("r2d2.urdf",[k*2,i*2,1], useMaximalCoordinates=useMaximalCoordinates, flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES+flags)
#enable sleeping: you can pass the flag during URDF loading, or do it afterwards
#p.changeDynamics(r2d2,-1,activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING)
for j in range (p.getNumJoints(r2d2)):
p.setJointMotorControl2(r2d2,j,p.VELOCITY_CONTROL,targetVelocity=0)
print("r2d2=",r2d2)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
timestep = 1./240.
p.setTimeStep(timestep)
@@ -23,3 +29,6 @@ p.setGravity(0,0,-10)
while p.isConnected():
p.stepSimulation()
time.sleep(timestep)
#force the object to wake up
p.changeDynamics(r2d2,-1,activationState=p.ACTIVATION_STATE_WAKE_UP)

15
examples/pybullet/pybullet.c
View File

@@ -1183,14 +1183,15 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double ccdSweptSphereRadius=-1;
int frictionAnchor = -1;
double contactProcessingThreshold = -1;
int activationState = -1;
PyObject* localInertiaDiagonalObj=0;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddii", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold,&activationState, &physicsClientId))
{
return NULL;
}
@@ -1260,6 +1261,10 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetCcdSweptSphereRadius(command,bodyUniqueId,linkIndex, ccdSweptSphereRadius);
}
if (activationState >= 0)
{
b3ChangeDynamicsInfoSetActivationState(command, bodyUniqueId, activationState);
}
if (contactProcessingThreshold >= 0)
{
b3ChangeDynamicsInfoSetContactProcessingThreshold(command, bodyUniqueId, linkIndex, contactProcessingThreshold);
@@ -9617,7 +9622,11 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_ENABLE_CACHED_GRAPHICS_SHAPES", URDF_ENABLE_CACHED_GRAPHICS_SHAPES);
PyModule_AddIntConstant(m, "URDF_ENABLE_SLEEPING", URDF_ENABLE_SLEEPING);
PyModule_AddIntConstant(m, "URDF_INITIALIZE_SAT_FEATURES", URDF_INITIALIZE_SAT_FEATURES);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_ENABLE_SLEEPING", eActivationStateEnableSleeping);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_DISABLE_SLEEPING", eActivationStateDisableSleeping);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_WAKE_UP", eActivationStateWakeUp);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_SLEEP", eActivationStateSleep);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);