77c332bd88
See https://github.com/erwincoumans/pybullet_robots ANYmal.py for an example. PyBullet: Expose p.setPhysicsEngineParameter(solverResidualThreshold=1e-2) (b3PhysicsParamSetSolverResidualThreshold), increases solver performance a lot PyBullet: Expose p.setPhysicsEngineParameter(contactSlop) Set it to zero, to avoid issues with restitution. PyBullet: Expose isNumpyEnabled, return True is PyBullet was compiled with NUMPY support for 'getCameraImage'. PyBullet: Expose p.ChangeDynamics(objectUid, linkIndex, contactProcessingThreshold), to avoid issues of speculative/predictive contacts with restitution. See also http://twvideo01.ubm-us.net/o1/vault/gdc2012/slides/Programming%20Track/Vincent_ROBERT_Track_ADifferentApproach.pdf
54 lines
1.4 KiB
C++
54 lines
1.4 KiB
C++
#ifndef _URDF2BULLET_H
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#define _URDF2BULLET_H
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btTransform.h"
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#include <string>
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#include "UrdfJointTypes.h"//for UrdfMaterialColor cache
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class btVector3;
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class btTransform;
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class btMultiBodyDynamicsWorld;
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class btTransform;
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class URDFImporterInterface;
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class MultiBodyCreationInterface;
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//manually sync with eURDF_Flags in SharedMemoryPublic.h!
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enum ConvertURDFFlags {
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CUF_USE_SDF = 1,
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// Use inertia values in URDF instead of recomputing them from collision shape.
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CUF_USE_URDF_INERTIA = 2,
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CUF_USE_MJCF = 4,
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CUF_USE_SELF_COLLISION=8,
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CUF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
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CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
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CUF_RESERVED=64,
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CUF_USE_IMPLICIT_CYLINDER=128,
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CUF_GLOBAL_VELOCITIES_MB=256,
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CUF_MJCF_COLORS_FROM_FILE=512,
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CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
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};
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struct UrdfVisualShapeCache
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{
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btAlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors;
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btAlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices;
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};
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void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
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MultiBodyCreationInterface& creationCallback,
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const btTransform& rootTransformInWorldSpace,
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btMultiBodyDynamicsWorld* world,
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bool createMultiBody,
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const char* pathPrefix,
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int flags = 0,
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UrdfVisualShapeCache& cachedLinkGraphicsShapes= UrdfVisualShapeCache()
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);
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#endif //_URDF2BULLET_H
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