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Code Issues Releases Wiki Activity

add python binding to allow loading deformable objects

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This commit is contained in:
Xuchen Han 2019-11-15 21:25:11 -08:00
parent 28039903b1
commit a86710c5b6
6 changed files with 59 additions and 9 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -386,12 +386,12 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle
return 0;
}
B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
B3_SHARED_API int b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_useSelfCollision = useSelfCollision;
command->m_updateFlags |= LOAD_SOFT_BODY_SET_SELF_COLLISION;
command->m_updateFlags |= LOAD_SOFT_BODY_USE_SELF_COLLISION;
return 0;
}
@ -413,6 +413,15 @@ B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle co
return 0;
}
B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
command->m_loadSoftBodyArguments.m_useFaceContact = useFaceContact;
command->m_updateFlags |= LOAD_SOFT_BODY_USE_FACE_CONTACT;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{
PhysicsClient* cl = (PhysicsClient*)physClient;

3
examples/SharedMemory/PhysicsClientC_API.h
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@ -638,7 +638,8 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);
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 b3LoadSoftBodyUseSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
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);

3
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -8248,7 +8248,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
psb->setCollisionFlags(0);
psb->setTotalMass(mass);
bool use_self_collision = false;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_SELF_COLLISION)
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_USE_SELF_COLLISION)
{
use_self_collision = loadSoftBodyArgs.m_useSelfCollision;
}
@ -13444,7 +13444,6 @@ void PhysicsServerCommandProcessor::resetSimulation(int flags)
softWorld->getWorldInfo().m_sparsesdf.Reset();
}
}
}
#endif
if (m_data && m_data->m_guiHelper)

6
examples/SharedMemory/SharedMemoryCommands.h
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@ -502,7 +502,8 @@ enum EnumLoadSoftBodyUpdateFlags
LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10,
LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11,
LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
LOAD_SOFT_BODY_SET_SELF_COLLISION = 1<<13,
LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13,
LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14,
};
enum EnumSimParamInternalSimFlags
@ -525,13 +526,14 @@ struct LoadSoftBodyArgs
double m_springDampingStiffness;
double m_corotatedMu;
double m_corotatedLambda;
bool m_useBendingSprings;
int m_useBendingSprings;
double m_collisionHardness;
double m_useSelfCollision;
double m_frictionCoeff;
double m_NeoHookeanMu;
double m_NeoHookeanLambda;
double m_NeoHookeanDamping;
int m_useFaceContact;
};
struct b3LoadSoftBodyResultArgs

17
examples/pybullet/examples/deformable_torus.py Normal file
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@ -0,0 +1,17 @@
import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
p.setGravity(0, 0, -10)
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)
p.setGravity(0, 0, -10)
while p.isConnected():
p.stepSimulation()

26
examples/pybullet/pybullet.c
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@ -1963,13 +1963,25 @@ 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", NULL};
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", NULL};
int bodyUniqueId = -1;
const char* fileName = "";
double scale = -1;
double mass = -1;
double collisionMargin = -1;
int useMassSpring = 0;
int useBendingSprings = 0;
int useNeoHookean = 0;
double springElasticStiffness = 1;
double springDampingStiffness = 0.1;
double NeoHookeanMu = 1;
double NeoHookeanLambda = 1;
double NeoHookeanDamping = 0.1;
double frictionCoeff = 0;
int useFaceContact = 0;
int useSelfCollision = 0;
b3PhysicsClientHandle sm = 0;
@ -1980,7 +1992,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
PyObject* basePosObj = 0;
PyObject* baseOrnObj = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddi", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiiiddddddii", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision))
{
return NULL;
}
@ -2033,6 +2045,16 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
{
b3LoadSoftBodySetCollisionMargin(command, collisionMargin);
}
if (useMassSpring)
{
b3LoadSoftBodyAddMassSpringForce(command, springElasticStiffness, springDampingStiffness);
b3LoadSoftBodyUseBendingSprings(command, useBendingSprings);
}
if (useNeoHookean)
{
b3LoadSoftBodyAddNeoHookeanForce(command, NeoHookeanMu, NeoHookeanLambda, NeoHookeanDamping);
}
b3LoadSoftBodySetFrictionCoefficient(command, frictionCoeff);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_LOAD_SOFT_BODY_COMPLETED)