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PyBullet: avoid calling syncBodies for each DOF in pdControl.

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Allow PD_CONTROL in setJointMotorControlArray.
This commit is contained in:
erwincoumans 2018-11-07 09:29:19 -08:00
parent d414224d96
commit 49b098854e
3 changed files with 16 additions and 9 deletions
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5
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -5581,6 +5581,11 @@ bool PhysicsServerCommandProcessor::processSendDesiredStateCommand(const struct
args.m_ints[1] = bodyUniqueId;
//find the joint motors and apply the desired velocity and maximum force/torque
{
args.m_numInts = 0;
args.m_numFloats = 0;
//syncBodies is expensive/slow, use it only once
m_data->m_pluginManager.executePluginCommand(m_data->m_pdControlPlugin, &args);
int velIndex = 6; //skip the 3 linear + 3 angular degree of freedom velocity entries of the base
int posIndex = 7; //skip 3 positional and 4 orientation (quaternion) positional degrees of freedom of the base
for (int link = 0; link < mb->getNumLinks(); link++)

6
examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
View File

@ -89,7 +89,11 @@ B3_SHARED_API int executePluginCommand_pdControlPlugin(struct b3PluginContext* c
{
MyPDControlContainer* obj = (MyPDControlContainer*)context->m_userPointer;
obj->m_api.syncBodies();
if (arguments->m_numInts == 0)
{
obj->m_api.syncBodies();
return -1;
}
int numObj = obj->m_api.getNumBodies();
//printf("numObj = %d\n", numObj);

14
examples/pybullet/pybullet.c
View File

@ -2039,7 +2039,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
(controlMode != CONTROL_MODE_TORQUE) &&
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD))
{
PyErr_SetString(SpamError, "Illegral control mode.");
PyErr_SetString(SpamError, "Illegal control mode.");
return NULL;
}
@ -2140,9 +2140,10 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
if ((controlMode != CONTROL_MODE_VELOCITY) &&
(controlMode != CONTROL_MODE_TORQUE) &&
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD))
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD)&&
(controlMode != CONTROL_MODE_PD))
{
PyErr_SetString(SpamError, "Illegral control mode.");
PyErr_SetString(SpamError, "Illegal control mode.");
return NULL;
}
@ -2340,7 +2341,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
default:
{
b3JointControlSetDesiredPosition(commandHandle, info.m_qIndex,
targetPosition);
@ -2351,9 +2352,6 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, force);
break;
}
default:
{
}
};
}
@ -2440,7 +2438,7 @@ static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args,
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD) &&
(controlMode != CONTROL_MODE_PD))
{
PyErr_SetString(SpamError, "Illegral control mode.");
PyErr_SetString(SpamError, "Illegal control mode.");
return NULL;
}