Merge branch 'master' of https://github.com/erwincoumans/bullet3

.travis.yml

@@ -10,9 +10,15 @@ addons:
     packages:
       - python3
 
+
 script:
   - echo "CXX="$CXX
   - echo "CC="$CC
+  - if [ "$CXX" = "g++" ]; then sudo apt-get install python3-pip; fi
+  - if [ "$CXX" = "g++" ]; then sudo pip3 install -U pip wheel; fi
+  - if [ "$CXX" = "g++" ]; then sudo pip3 install setuptools; fi
+  - if [ "$CXX" = "g++" ]; then sudo python3 setup.py install; fi
+  - if [ "$CXX" = "g++" ]; then python3 examples/pybullet/unittests/unittests.py --verbose; fi
   - cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
   - make -j8
   - ctest -j8 --output-on-failure

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -6201,6 +6201,16 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 
 	BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS");
 
+	if (clientCmd.m_updateFlags & SIM_PARAM_ENABLE_CONE_FRICTION)
+	{
+		if (clientCmd.m_physSimParamArgs.m_enableConeFriction)
+		{
+			m_data->m_dynamicsWorld->getSolverInfo().m_solverMode &=~SOLVER_DISABLE_IMPLICIT_CONE_FRICTION;
+		} else
+		{
+			m_data->m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_DISABLE_IMPLICIT_CONE_FRICTION;
+		}
+	}
 	if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME)
 	{
 		m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;

examples/SharedMemory/SharedMemoryCommands.h

@@ -394,6 +394,8 @@ enum EnumSimDesiredStateUpdateFlags
 };
 
 
+	
+
 enum EnumSimParamUpdateFlags
 {
 	SIM_PARAM_UPDATE_DELTA_TIME=1,
@@ -407,7 +409,7 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256,
 	SIM_PARAM_UPDATE_COLLISION_FILTER_MODE=512,
 	SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024,
-	SIM_PARAM_MAX_CMD_PER_1MS = 2048,
+	SIM_PARAM_ENABLE_CONE_FRICTION = 2048,
 	SIM_PARAM_ENABLE_FILE_CACHING = 4096,
 	SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 8192,
 	SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP=16384,

examples/SharedMemory/SharedMemoryPublic.h

@@ -692,6 +692,7 @@ struct b3PhysicsSimulationParameters
 	double m_restitutionVelocityThreshold;
 	double 	m_defaultNonContactERP;
 	double m_frictionERP;
+	int m_enableConeFriction;
 };
 
 

examples/pybullet/pybullet.c

@@ -1,4 +1,3 @@
-
 #include "../SharedMemory/PhysicsClientC_API.h"
 #include "../SharedMemory/PhysicsDirectC_API.h"
 #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"

examples/pybullet/unittests/unittests.py

@@ -0,0 +1,46 @@
+import unittest
+import pybullet
+import time
+
+class TestPybulletMethods(unittest.TestCase):
+
+    def test_import(self):
+        import pybullet as p
+        self.assertGreater(p.getAPIVersion(), 201700000)
+
+    def test_connect_direct(self):
+        import pybullet as p
+        cid = p.connect(p.DIRECT)
+        self.assertEqual(cid,0)
+        p.disconnect()
+
+    def test_loadurdf(self):
+        import pybullet as p
+        p.connect(p.DIRECT)
+        ob = p.loadURDF("r2d2.urdf")
+        self.assertEqual(ob,0)
+        p.disconnect()
+
+    def test_rolling_friction(self):
+        import pybullet as p
+        p.connect(p.DIRECT)
+        p.loadURDF("plane.urdf")
+        sphere = p.loadURDF("sphere2.urdf",[0,0,1])
+        p.resetBaseVelocity(sphere,linearVelocity=[1,0,0])
+        p.changeDynamics(sphere,-1,linearDamping=0,angularDamping=0)
+        #p.changeDynamics(sphere,-1,rollingFriction=0)
+        p.setGravity(0,0,-10)
+        for i in range (1000):
+          p.stepSimulation()
+        vel = p.getBaseVelocity(sphere)
+        self.assertLess(vel[0][0],1e-10)
+        self.assertLess(vel[0][1],1e-10)
+        self.assertLess(vel[0][2],1e-10)
+        self.assertLess(vel[1][0],1e-10)
+        self.assertLess(vel[1][1],1e-10)
+        self.assertLess(vel[1][2],1e-10)
+        p.disconnect()
+       
+if __name__ == '__main__':
+    unittest.main()
+

setup.py

@@ -442,7 +442,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.7.3',
+	version='1.7.4',
 	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',

src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

@@ -29,7 +29,8 @@ enum	btSolverMode
 	SOLVER_CACHE_FRIENDLY = 128,
 	SOLVER_SIMD = 256,
 	SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
-	SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
+	SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
+	SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048
 };
 
 struct btContactSolverInfoData

src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp

@@ -78,7 +78,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
 			btMultiBodySolverConstraint& frictionConstraint = m_multiBodyLateralFrictionContactConstraints[index];
 			
 			btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
-			if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
+			if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode&SOLVER_DISABLE_IMPLICIT_CONE_FRICTION)==0))
 			{
 				j1++;
 				int index2 = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
@@ -91,7 +91,11 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
 					frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
 					frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction*totalImpulse);
 					frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction*totalImpulse;
-					resolveConeFrictionConstraintRows(frictionConstraint,frictionConstraintB);
+					leastSquaredResidual += resolveConeFrictionConstraintRows(frictionConstraint,frictionConstraintB);
+					if(frictionConstraint.m_multiBodyA) 
+						frictionConstraint.m_multiBodyA->setPosUpdated(false);
+					if(frictionConstraint.m_multiBodyB) 
+						frictionConstraint.m_multiBodyB->setPosUpdated(false);
 				}
 			}
 			else
@@ -112,6 +116,30 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
 			}
 		}
 	}
+
+	for (int j1=0;j1<this->m_multiBodyTorsionalFrictionContactConstraints.size();j1++)
+	{
+		if (iteration < infoGlobal.m_numIterations)
+		{
+			int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
+
+			btMultiBodySolverConstraint& frictionConstraint = m_multiBodyTorsionalFrictionContactConstraints[index];
+			btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
+			//adjust friction limits here
+			if (totalImpulse>btScalar(0))
+			{
+				frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
+				frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
+				btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
+				leastSquaredResidual += residual*residual;
+
+				if(frictionConstraint.m_multiBodyA) 
+					frictionConstraint.m_multiBodyA->setPosUpdated(false);
+				if(frictionConstraint.m_multiBodyB) 
+					frictionConstraint.m_multiBodyB->setPosUpdated(false);
+			}
+		}
+	}
 	return leastSquaredResidual;
 }