set appropriate repulsion stiffness for pybullet torus demo

data/torus_deform.urdf

@@ -6,6 +6,7 @@
       <inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
     </inertial>
     <collision_margin value="0.006"/>
+    <repulsion_stiffness value="50.0"/>
     <friction value= "0.5"/>
     <neohookean mu= "60" lambda= "200" damping= "0.01" />
     <visual filename="torus.vtk"/>

examples/SharedMemory/PhysicsClientC_API.h

@@ -648,7 +648,7 @@ extern "C"
 	B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
 	B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);
 	B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
-	B3_SHARED_API int b3LoadSoftBodyRepulsionStiffness(b3SharedMemoryCommandHandle commandHandle, double stiffness);
+	B3_SHARED_API int b3LoadSoftBodySetRepulsionStiffness(b3SharedMemoryCommandHandle commandHandle, double stiffness);
 	B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact);
 	B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient);
 	B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings, double bendingStiffness);

examples/pybullet/examples/deformable_torus.py

@@ -11,7 +11,7 @@ planeId = p.loadURDF("plane.urdf", [0,0,-2])
 
 boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
 
-bunnyId = p.loadSoftBody("torus.vtk", useNeoHookean = 1, NeoHookeanMu = 60, NeoHookeanLambda = 200, NeoHookeanDamping = 0.01, useSelfCollision = 1, frictionCoeff = 0.5)
+bunnyId = p.loadSoftBody("torus.vtk", mass = 1, useNeoHookean = 1, NeoHookeanMu = 60, NeoHookeanLambda = 200, NeoHookeanDamping = 0.01, collisionMargin = 0.006, useSelfCollision = 1, frictionCoeff = 0.5, repulsionStiffness = 50)
 
 bunny2 = p.loadURDF("torus_deform.urdf", [0,1,0], flags=p.URDF_USE_SELF_COLLISION)
 
@@ -20,4 +20,3 @@ p.setRealTimeSimulation(1)
 
 while p.isConnected():
   p.setGravity(0,0,-10)
-  sleep(1./240.)

examples/pybullet/pybullet.c

@@ -2038,7 +2038,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 	int physicsClientId = 0;
 	int flags = 0;
 
-	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "springBendingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", NULL};
+	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "springBendingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", "repulsionStiffness", NULL};
 
 	int bodyUniqueId = -1;
 	const char* fileName = "";
@@ -2057,6 +2057,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 	double frictionCoeff = 0;
 	int useFaceContact = 0;
 	int useSelfCollision = 0;
+        double repulsionStiffness = 0.5;
 	
 
 	b3PhysicsClientHandle sm = 0;
@@ -2068,7 +2069,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 	PyObject* basePosObj = 0;
 	PyObject* baseOrnObj = 0;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiiidddddddii", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &springBendingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiiidddddddiid", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &springBendingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision, &repulsionStiffness))
 	{
 		return NULL;
 	}
@@ -2134,6 +2135,10 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 		{
 			b3LoadSoftBodySetSelfCollision(command, useSelfCollision);
 		}
+                if (repulsionStiffness > 0)
+                {
+                        b3LoadSoftBodySetRepulsionStiffness(command, repulsionStiffness);
+                }
 		b3LoadSoftBodySetFrictionCoefficient(command, frictionCoeff);
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		statusType = b3GetStatusType(statusHandle);

src/btLinearMathAll.cpp

@@ -8,6 +8,7 @@
 #include "LinearMath/btConvexHullComputer.cpp"
 #include "LinearMath/btQuickprof.cpp"
 #include "LinearMath/btThreads.cpp"
+#include "LinearMath/btReducedVector.cpp"
 #include "LinearMath/TaskScheduler/btTaskScheduler.cpp"
 #include "LinearMath/TaskScheduler/btThreadSupportPosix.cpp"
 #include "LinearMath/TaskScheduler/btThreadSupportWin32.cpp"