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Code Issues Releases Wiki Activity

expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890

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bump up PyBullet to version 2.4.8
This commit is contained in:
erwincoumans 2019-03-09 09:23:16 -08:00 committed by fuchuyuan
parent ce531e6015
commit 550f4c4785
6 changed files with 34 additions and 6 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -2928,6 +2928,19 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemo
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetMaxJointVelocity(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double maxJointVelocity)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = -1;
command->m_changeDynamicsInfoArgs.m_maxJointVelocity = maxJointVelocity;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY;
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int activationState)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

1
examples/SharedMemory/PhysicsClientC_API.h
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@ -164,6 +164,7 @@ extern "C"
B3_SHARED_API int b3ChangeDynamicsInfoSetCcdSweptSphereRadius(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double ccdSweptSphereRadius);
B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double contactProcessingThreshold);
B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int activationState);
B3_SHARED_API int b3ChangeDynamicsInfoSetMaxJointVelocity(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double maxJointVelocity);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand2(b3SharedMemoryCommandHandle commandHandle, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info);

6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -7804,6 +7804,10 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
mb->getBaseCollider()->setAnisotropicFriction(anisotropicFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY)
{
mb->setMaxCoordinateVelocity(clientCmd.m_changeDynamicsInfoArgs.m_maxJointVelocity);
}
}
else
@ -7989,6 +7993,8 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
rb->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS)
{
rb->setCcdSweptSphereRadius(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius);

2
examples/SharedMemory/SharedMemoryCommands.h
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@ -165,6 +165,7 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE = 8192,
CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING = 16384,
CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION = 32768,
CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY = 1<<16,
};
struct ChangeDynamicsInfoArgs
@ -188,6 +189,7 @@ struct ChangeDynamicsInfoArgs
int m_activationState;
double m_jointDamping;
double m_anisotropicFriction[3];
double m_maxJointVelocity;
};
struct GetDynamicsInfoArgs

10
examples/pybullet/pybullet.c
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@ -1243,12 +1243,13 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double jointDamping = -1;
PyObject* localInertiaDiagonalObj = 0;
PyObject* anisotropicFrictionObj = 0;
double maxJointVelocity = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "maxJointVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOdi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &maxJointVelocity, &physicsClientId))
{
return NULL;
}
@ -1336,6 +1337,11 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetContactProcessingThreshold(command, bodyUniqueId, linkIndex, contactProcessingThreshold);
}
if (maxJointVelocity >= 0)
{
b3ChangeDynamicsInfoSetMaxJointVelocity(command, bodyUniqueId, maxJointVelocity);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}

2
setup.py
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@ -466,7 +466,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
setup(
name = 'pybullet',
version='2.4.7',
version='2.4.8',
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',