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Merge pull request #1831 from erwincoumans/master

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bump up pybullet version, revert linear slop
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erwincoumans 2018-08-09 23:56:29 +00:00 committed by GitHub
commit 2c425f72fe
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5 changed files with 9 additions and 8 deletions
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3
examples/MultiBody/MultiDofDemo.cpp
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@ -148,6 +148,7 @@ void MultiDofDemo::initPhysics()
// m_dynamicsWorld->setDebugDrawer(&gDebugDraw);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
m_dynamicsWorld->getSolverInfo().m_globalCfm = 1e-3;
///create a few basic rigid bodies
btVector3 groundHalfExtents(50,50,50);
@ -169,7 +170,7 @@ void MultiDofDemo::initPhysics()
int numLinks = 5;
bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool multibodyOnly = false;
bool canSleep = true;
bool canSleep = false;
bool selfCollide = true;
bool multibodyConstraint = false;
btVector3 linkHalfExtents(0.05, 0.37, 0.1);

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -2381,7 +2381,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
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;
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
// m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2;

2
examples/SharedMemory/b3PluginManager.cpp
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@ -327,7 +327,7 @@ void b3PluginManager::reportNotifications()
plugin->m_processNotificationsFunc(&context);
}
}
notifications.clear();
notifications.resize(0);
}
int b3PluginManager::executePluginCommand(int pluginUniqueId, const b3PluginArguments* arguments)

8
examples/pybullet/pybullet.c
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@ -8529,10 +8529,10 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
{
int szInBytes = sizeof(double) * szJointDamping;
int i;
if (szJointDamping != dofCount)
{
printf("calculateInverseKinematics: the size of input joint damping values should be equal to the number of degrees of freedom, ignoring the additonal values.");
}
//if (szJointDamping != dofCount)
//{
// printf("calculateInverseKinematics: the size of input joint damping values should be equal to the number of degrees of freedom, ignoring the additonal values.");
//}
jointDamping = (double*)malloc(szInBytes);
for (i = 0; i < szJointDamping; i++)
{

2
setup.py
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@ -453,7 +453,7 @@ print("-----")
setup(
name = 'pybullet',
version='2.0.9',
version='2.1.2',
description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',