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Add python binding and a pybullet example for loading softbody from obj.

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This commit is contained in:
yunfeibai 2018-01-08 18:10:28 -08:00
parent d3bc98e245
commit 0e0d3da2b5
3 changed files with 88 additions and 4 deletions
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6
CMakeLists.txt
View File

@ -26,7 +26,7 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
IF (BULLET2_USE_THREAD_LOCKS)
@ -217,8 +217,8 @@ ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
ENDIF (USE_DOUBLE_PRECISION)
IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ADD_DEFINITIONS(-DUSE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
IF(USE_GRAPHICAL_BENCHMARK)

20
examples/pybullet/examples/load_soft_body.py Normal file
View File

@ -0,0 +1,20 @@
import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
p.setGravity(0,0,-10)
planeId = p.loadURDF("plane.urdf")
bunnyId = p.loadSoftBody("bunny.obj")
useRealTimeSimulation = 1
if (useRealTimeSimulation):
p.setRealTimeSimulation(1)
while 1:
if (useRealTimeSimulation):
p.setGravity(0,0,-10)
sleep(0.01) # Time in seconds.
else:
p.stepSimulation()

66
examples/pybullet/pybullet.c
View File

@ -1353,6 +1353,67 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
return pylist;
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
// Load a softbody from an obj file
static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int flags = 0;
static char* kwlist[] = {"fileName", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
int bodyUniqueId= -1;
const char* fileName = "";
double scale = -1;
double mass = -1;
double collisionMargin = -1;
b3PhysicsClientHandle sm = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|dddi", kwlist, &fileName, &scale, &mass, &collisionMargin, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (strlen(fileName))
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command =
b3LoadSoftBodyCommandInit(sm, fileName);
if (scale>0)
{
b3LoadSoftBodySetScale(command,scale);
}
if (mass>0)
{
b3LoadSoftBodySetMass(command,mass);
}
if (collisionMargin>0)
{
b3LoadSoftBodySetCollisionMargin(command,collisionMargin);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_CLIENT_COMMAND_COMPLETED)
{
PyErr_SetString(SpamError, "Cannot load soft body.");
return NULL;
}
bodyUniqueId = b3GetStatusBodyIndex(statusHandle);
}
return PyLong_FromLong(bodyUniqueId);
}
#endif
// Reset the simulation to remove all loaded objects
static PyObject* pybullet_resetSimulation(PyObject* self, PyObject* args, PyObject* keywds)
{
@ -7861,7 +7922,10 @@ static PyMethodDef SpamMethods[] = {
{"loadSDF", (PyCFunction)pybullet_loadSDF, METH_VARARGS | METH_KEYWORDS,
"Load multibodies from an SDF file."},
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
{"loadSoftBody", (PyCFunction)pybullet_loadSoftBody, METH_VARARGS | METH_KEYWORDS,
"Load a softbody from an obj file."},
#endif
{"loadBullet", (PyCFunction)pybullet_loadBullet, METH_VARARGS | METH_KEYWORDS,
"Load a world from a .bullet file."},