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Merge pull request #1701 from erwincoumans/master

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PyBullet: add option to cache graphics shapes for URDF files, handy f…
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erwincoumans 2018-05-23 14:47:01 +10:00 committed by GitHub
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12 changed files with 192 additions and 16 deletions
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5
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@ -1302,6 +1302,11 @@ bool BulletURDFImporter::getLinkColor2(int linkIndex, UrdfMaterialColor& matCol)
return false;
}
void BulletURDFImporter::setLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const
{
m_data->m_linkColors.insert(linkIndex, matCol);
}
bool BulletURDFImporter::getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const
{
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdflinkIndex);

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@ -52,6 +52,8 @@ public:
virtual bool getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const;
virtual void setLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const;
virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const;
virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;

35
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@ -185,7 +185,7 @@ void ConvertURDF2BulletInternal(
URDF2BulletCachedData& cache, int urdfLinkIndex,
const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,
bool createMultiBody, const char* pathPrefix,
int flags = 0)
int flags = 0, UrdfVisualShapeCache* cachedLinkGraphicsShapesIn=0, UrdfVisualShapeCache* cachedLinkGraphicsShapesOut=0)
{
B3_PROFILE("ConvertURDF2BulletInternal2");
//b3Printf("start converting/extracting data from URDF interface\n");
@ -273,7 +273,23 @@ void ConvertURDF2BulletInternal(
int graphicsIndex;
{
B3_PROFILE("convertLinkVisualShapes");
graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
if (cachedLinkGraphicsShapesIn && cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices.size() > (mbLinkIndex+1))
{
graphicsIndex = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices[mbLinkIndex+1];
UrdfMaterialColor matColor = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkColors[mbLinkIndex + 1];
u2b.setLinkColor2(urdfLinkIndex, matColor);
}
else
{
graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
if (cachedLinkGraphicsShapesOut)
{
cachedLinkGraphicsShapesOut->m_cachedUrdfLinkVisualShapeIndices.push_back(graphicsIndex);
UrdfMaterialColor matColor;
u2b.getLinkColor2(urdfLinkIndex, matColor);
cachedLinkGraphicsShapesOut->m_cachedUrdfLinkColors.push_back(matColor);
}
}
}
@ -594,7 +610,7 @@ void ConvertURDF2BulletInternal(
{
int urdfChildLinkIndex = urdfChildIndices[i];
ConvertURDF2BulletInternal(u2b,creation, cache,urdfChildLinkIndex,linkTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags);
ConvertURDF2BulletInternal(u2b,creation, cache,urdfChildLinkIndex,linkTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags, cachedLinkGraphicsShapesIn, cachedLinkGraphicsShapesOut);
}
}
@ -602,14 +618,21 @@ void ConvertURDF2Bullet(
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
const btTransform& rootTransformInWorldSpace,
btMultiBodyDynamicsWorld* world1,
bool createMultiBody, const char* pathPrefix, int flags)
bool createMultiBody, const char* pathPrefix, int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapes)
{
URDF2BulletCachedData cache;
URDF2BulletCachedData cache;
InitURDF2BulletCache(u2b,cache);
int urdfLinkIndex = u2b.getRootLinkIndex();
B3_PROFILE("ConvertURDF2Bullet");
ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags);
UrdfVisualShapeCache cachedLinkGraphicsShapesOut;
ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags, cachedLinkGraphicsShapes, &cachedLinkGraphicsShapesOut);
if (cachedLinkGraphicsShapes && cachedLinkGraphicsShapesOut.m_cachedUrdfLinkVisualShapeIndices.size() > cachedLinkGraphicsShapes->m_cachedUrdfLinkVisualShapeIndices.size())
{
*cachedLinkGraphicsShapes = cachedLinkGraphicsShapesOut;
}
if (world1 && cache.m_bulletMultiBody)
{

14
examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@ -3,6 +3,8 @@
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include <string>
#include "URDFJointTypes.h"//for UrdfMaterialColor cache
class btVector3;
class btTransform;
class btMultiBodyDynamicsWorld;
@ -26,15 +28,25 @@ enum ConvertURDFFlags {
CUF_USE_IMPLICIT_CYLINDER=128,
CUF_GLOBAL_VELOCITIES_MB=256,
CUF_MJCF_COLORS_FROM_FILE=512,
CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
};
struct UrdfVisualShapeCache
{
btAlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors;
btAlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices;
};
void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
MultiBodyCreationInterface& creationCallback,
const btTransform& rootTransformInWorldSpace,
btMultiBodyDynamicsWorld* world,
bool createMultiBody,
const char* pathPrefix,
int flags = 0);
int flags = 0,
UrdfVisualShapeCache* cachedLinkGraphicsShapes= 0
);
#endif //_URDF2BULLET_H

2
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
View File

@ -37,7 +37,7 @@ public:
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}
virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const { return false;}
virtual void setLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const {}
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const { return 0;}
///this API will likely change, don't override it!

5
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@ -861,7 +861,10 @@ void GLInstancingRenderer::rebuildGraphicsInstances()
{
int srcIndex2 = usedObjects[i];
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
m_graphicsInstances[pg->m_shapeIndex]->m_tempObjectUids.push_back(srcIndex2);
if (pg && pg->m_shapeIndex < m_graphicsInstances.size() && pg->m_shapeIndex >=0)
{
m_graphicsInstances[pg->m_shapeIndex]->m_tempObjectUids.push_back(srcIndex2);
}
}
int curOffset = 0;

33
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -593,6 +593,26 @@ B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHand
return 0;
}
B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_solverResidualThreshold = solverResidualThreshold;
command->m_updateFlags |= SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetContactSlop(b3SharedMemoryCommandHandle commandHandle, double contactSlop)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_contactSlop = contactSlop;
command->m_updateFlags |= SIM_PARAM_UPDATE_CONTACT_SLOP;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode)
{
@ -2354,6 +2374,19 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetCcdSweptSphereRadius(b3SharedMemoryComm
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double contactProcessingThreshold)
{
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 = linkIndex;
command->m_changeDynamicsInfoArgs.m_contactProcessingThreshold = contactProcessingThreshold;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)

6
examples/SharedMemory/PhysicsClientC_API.h
View File

@ -126,6 +126,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHan
B3_SHARED_API int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex,double contactStiffness, double contactDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, int frictionAnchor);
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 b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
@ -299,6 +300,11 @@ B3_SHARED_API int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandl
B3_SHARED_API int b3PhysicsParameterSetDeterministicOverlappingPairs(b3SharedMemoryCommandHandle commandHandle, int deterministicOverlappingPairs);
B3_SHARED_API int b3PhysicsParameterSetAllowedCcdPenetration(b3SharedMemoryCommandHandle commandHandle, double allowedCcdPenetration);
B3_SHARED_API int b3PhysicsParameterSetJointFeedbackMode(b3SharedMemoryCommandHandle commandHandle, int jointFeedbackMode);
B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold);
B3_SHARED_API int b3PhysicsParamSetContactSlop(b3SharedMemoryCommandHandle commandHandle, double contactSlop);

41
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -1484,6 +1484,7 @@ struct SaveStateData
btSerializer* m_serializer;
};
struct PhysicsServerCommandProcessorInternalData
{
///handle management
@ -1581,6 +1582,7 @@ struct PhysicsServerCommandProcessorInternalData
#endif
b3HashMap<b3HashString, char*> m_profileEvents;
b3HashMap<b3HashString, UrdfVisualShapeCache> m_cachedVUrdfisualShapes;
PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
:m_pluginManager(proc),
@ -2618,7 +2620,22 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
u2b.getRootTransformInWorld(rootTrans);
//CUF_RESERVED is a temporary flag, for backward compatibility purposes
flags |= CUF_RESERVED;
ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
if (flags & CUF_ENABLE_CACHED_GRAPHICS_SHAPES)
{
{
UrdfVisualShapeCache* tmpPtr = m_data->m_cachedVUrdfisualShapes[fileName];
if (tmpPtr==0)
{
m_data->m_cachedVUrdfisualShapes.insert(fileName, UrdfVisualShapeCache());
}
}
UrdfVisualShapeCache* cachedVisualShapesPtr = m_data->m_cachedVUrdfisualShapes[fileName];
ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags, cachedVisualShapesPtr);
} else
{
ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags);
}
@ -6483,6 +6500,11 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD)
{
body->m_rigidBody->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS)
{
body->m_rigidBody->setCcdSweptSphereRadius(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius);
@ -6696,11 +6718,24 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
{
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD)
{
m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = clientCmd.m_physSimParamArgs.m_solverResidualThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD)
{
gContactBreakingThreshold = clientCmd.m_physSimParamArgs.m_contactBreakingThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_CONTACT_SLOP)
{
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = clientCmd.m_physSimParamArgs.m_contactSlop;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;
@ -9714,6 +9749,8 @@ void PhysicsServerCommandProcessor::resetSimulation()
{
//clean up all data
m_data->m_cachedVUrdfisualShapes.clear();
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
if (m_data && m_data->m_dynamicsWorld)
{

4
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -164,6 +164,7 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512,
CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL = 1024,
CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS = 2048,
CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD = 4096,
};
struct ChangeDynamicsInfoArgs
@ -183,6 +184,7 @@ struct ChangeDynamicsInfoArgs
double m_localInertiaDiagonal[3];
int m_frictionAnchor;
double m_ccdSweptSphereRadius;
double m_contactProcessingThreshold;
};
struct GetDynamicsInfoArgs
@ -450,6 +452,8 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE = 262144,
SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM = 524288,
SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM = 1048576,
SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD = 2097152,
SIM_PARAM_UPDATE_CONTACT_SLOP = 4194304,
};
enum EnumLoadSoftBodyUpdateFlags

3
examples/SharedMemory/SharedMemoryPublic.h
View File

@ -681,6 +681,7 @@ enum eURDF_Flags
URDF_USE_IMPLICIT_CYLINDER =128,
URDF_GLOBAL_VELOCITIES_MB =256,
MJCF_COLORS_FROM_FILE=512,
URDF_ENABLE_CACHED_GRAPHICS_SHAPES=1024,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
@ -755,6 +756,8 @@ struct b3PhysicsSimulationParameters
int m_deterministicOverlappingPairs;
double m_allowedCcdPenetration;
int m_jointFeedbackMode;
double m_solverResidualThreshold;
double m_contactSlop;
};

58
examples/pybullet/pybullet.c
View File

@ -919,13 +919,15 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double contactDamping = -1;
double ccdSweptSphereRadius=-1;
int frictionAnchor = -1;
double contactProcessingThreshold = -1;
PyObject* localInertiaDiagonalObj=0;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOdi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &physicsClientId))
{
return NULL;
}
@ -995,6 +997,10 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetCcdSweptSphereRadius(command,bodyUniqueId,linkIndex, ccdSweptSphereRadius);
}
if (contactProcessingThreshold >= 0)
{
b3ChangeDynamicsInfoSetContactProcessingThreshold(command, bodyUniqueId, linkIndex, contactProcessingThreshold);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
@ -1163,12 +1169,14 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsClientHandle sm = 0;
int deterministicOverlappingPairs = -1;
int jointFeedbackMode =-1;
double solverResidualThreshold = -1;
double contactSlop = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &physicsClientId))
{
return NULL;
}
@ -1189,6 +1197,11 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsParamSetNumSolverIterations(command, numSolverIterations);
}
if (solverResidualThreshold)
{
b3PhysicsParamSetSolverResidualThreshold(command, solverResidualThreshold);
}
if (collisionFilterMode >= 0)
{
b3PhysicsParamSetCollisionFilterMode(command, collisionFilterMode);
@ -1213,6 +1226,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetContactBreakingThreshold(command, contactBreakingThreshold);
}
if (contactSlop >= 0)
{
b3PhysicsParamSetContactSlop(command, contactSlop);
}
//-1 is disables the maxNumCmdPer1ms feature, allow it
if (maxNumCmdPer1ms >= -1)
{
@ -6832,6 +6851,29 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
return Py_None;
}
static PyObject* pybullet_isNumpyEnabled(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int isNumpyEnabled = 0;
int method = 0;
PyObject* pylist = 0;
PyObject* val = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
{
return NULL;
}
#ifdef PYBULLET_USE_NUMPY
isNumpyEnabled = 1;
#endif
return PyLong_FromLong(isNumpyEnabled);
}
/// Render an image from the current timestep of the simulation, width, height are required, other args are optional
// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow, lightAmbientCoeff, lightDiffuseCoeff, lightSpecularCoeff, renderer)
static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject* keywds)
@ -8897,6 +8939,10 @@ static PyMethodDef SpamMethods[] = {
#endif
},
{ "isNumpyEnabled", (PyCFunction)pybullet_isNumpyEnabled, METH_VARARGS | METH_KEYWORDS,
"return True if PyBullet was compiled with NUMPY support. This makes the getCameraImage API faster"
},
{"computeViewMatrix", (PyCFunction)pybullet_computeViewMatrix, METH_VARARGS | METH_KEYWORDS,
"Compute a camera viewmatrix from camera eye, target position and up vector "},
@ -9261,6 +9307,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_IMPLICIT_CYLINDER", URDF_USE_IMPLICIT_CYLINDER);
PyModule_AddIntConstant(m, "URDF_GLOBAL_VELOCITIES_MB", URDF_GLOBAL_VELOCITIES_MB);
PyModule_AddIntConstant(m, "MJCF_COLORS_FROM_FILE", MJCF_COLORS_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_ENABLE_CACHED_GRAPHICS_SHAPES", URDF_ENABLE_CACHED_GRAPHICS_SHAPES);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);