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Fix some deactivation issues with btMultiBodyDynamicsWorld, should also improve performance for PyBullet with larger worlds

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(even when sleeping is disabled, islands are split)
This commit is contained in:
Erwin Coumans
2018-08-26 16:14:36 -07:00
parent 3036a6d2bc
commit ff43cea263
19 changed files with 162 additions and 93 deletions
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5
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -610,9 +610,10 @@ void ConvertURDF2BulletInternal(
}
} else
{
if (canSleep)
// if (canSleep)
{
if (cache.m_bulletMultiBody->getBaseMass()==0 && cache.m_bulletMultiBody->getNumDofs()==0)
if (cache.m_bulletMultiBody->getBaseMass()==0)
//&& cache.m_bulletMultiBody->getNumDofs()==0)
{
//col->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);

9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -629,6 +629,15 @@ B3_SHARED_API int b3PhysicsParameterSetConstraintSolverType(b3SharedMemoryCom
return 0;
}
B3_SHARED_API int b3PhysicsParameterSetMinimumSolverIslandSize(b3SharedMemoryCommandHandle commandHandle, int minimumSolverIslandSize)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_minimumSolverIslandSize = minimumSolverIslandSize;
command->m_updateFlags |= SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode)
{

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -320,7 +320,8 @@ B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommand
B3_SHARED_API int b3PhysicsParamSetContactSlop(b3SharedMemoryCommandHandle commandHandle, double contactSlop);
B3_SHARED_API int b3PhysicsParameterSetEnableSAT(b3SharedMemoryCommandHandle commandHandle, int enableSAT);
B3_SHARED_API int b3PhysicsParameterSetConstraintSolverType(b3SharedMemoryCommandHandle commandHandle, int constraintSolverType);
B3_SHARED_API int b3PhysicsParameterSetMinimumSolverIslandSize(b3SharedMemoryCommandHandle commandHandle, int minimumSolverIslandSize);

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2390,6 +2390,8 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = 0.2;//need to check if there are artifacts with frictionERP
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0;
gDbvtMargin = btScalar(0.001);//1mm
m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
// m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2;
//todo: islands/constraints are buggy in btMultiBodyDynamicsWorld! (performance + see slipping grasp)

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -468,6 +468,8 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_CONTACT_SLOP = 4194304,
SIM_PARAM_ENABLE_SAT = 8388608,
SIM_PARAM_CONSTRAINT_SOLVER_TYPE =16777216,
SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 33554432,
};
enum EnumLoadSoftBodyUpdateFlags

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -898,6 +898,7 @@ struct b3PhysicsSimulationParameters
double m_contactSlop;
int m_enableSAT;
int m_constraintSolverType;
int m_minimumSolverIslandSize;
};
enum eConstraintSolverTypes

13
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -1353,6 +1353,10 @@ bool b3RobotSimulatorClientAPI_NoDirect::changeDynamics(int bodyUniqueId, int li
b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(sm);
b3SharedMemoryStatusHandle statusHandle;
if (args.m_activationState >= 0)
{
b3ChangeDynamicsInfoSetActivationState(command, bodyUniqueId,args.m_activationState);
}
if (args.m_mass >= 0) {
b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, args.m_mass);
}
@@ -1714,6 +1718,15 @@ bool b3RobotSimulatorClientAPI_NoDirect::setPhysicsEngineParameter(const struct
b3PhysicsParamSetSolverResidualThreshold(command, args.m_solverResidualThreshold);
}
if (args.m_constraintSolverType >= 0)
{
b3PhysicsParameterSetConstraintSolverType(command, args.m_constraintSolverType);
}
if (args.m_minimumSolverIslandSize >= 0)
{
b3PhysicsParameterSetMinimumSolverIslandSize(command, args.m_minimumSolverIslandSize);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
return true;
}

7
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -268,7 +268,8 @@ struct b3RobotSimulatorSetPhysicsEngineParameters : b3PhysicsSimulationParameter
m_frictionERP=-1;
m_solverResidualThreshold=-1;
m_constraintSolverType = -1;
m_minimumSolverIslandSize = -1;
}
};
@@ -285,6 +286,7 @@ struct b3RobotSimulatorChangeDynamicsArgs
double m_contactStiffness;
double m_contactDamping;
int m_frictionAnchor;
int m_activationState;
b3RobotSimulatorChangeDynamicsArgs()
: m_mass(-1),
@@ -296,7 +298,8 @@ struct b3RobotSimulatorChangeDynamicsArgs
m_angularDamping(-1),
m_contactStiffness(-1),
m_contactDamping(-1),
m_frictionAnchor(-1)
m_frictionAnchor(-1),
m_activationState(-1)
{}
};

14
examples/pybullet/pybullet.c
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@@ -1469,12 +1469,14 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int constraintSolverType=-1;
double globalCFM = -1;
int minimumSolverIslandSize = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "enableSAT", "constraintSolverType", "globalCFM", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "enableSAT", "constraintSolverType", "globalCFM", "minimumSolverIslandSize", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiiddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId))
{
return NULL;
}
@@ -1495,6 +1497,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsParamSetNumSolverIterations(command, numSolverIterations);
}
if (minimumSolverIslandSize >= 0)
{
b3PhysicsParameterSetMinimumSolverIslandSize(command, minimumSolverIslandSize);
}
if (solverResidualThreshold>=0)
{
b3PhysicsParamSetSolverResidualThreshold(command, solverResidualThreshold);