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unsupported: expose collisionMargin to changeDynamics/getDynamicsInfo.

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add cube_convex.urdf for testing this collisionMargin. Test script:
import pybullet as p
import time
p.connect(p.GUI)
plane = p.loadURDF("plane_implicit.urdf")
cube = p.loadURDF("cube_convex.urdf",[0,0,1])
p.setGravity(0,0,-10)
while (1):
	p.stepSimulation()
	pts = p.getContactPoints()
	p.changeDynamics(plane,-1,collisionMargin=0.3)
	p.changeDynamics(cube,-1,collisionMargin=0.3)
	print("===================")
	print("cube pos=", p.getBasePositionAndOrientation(cube)[0])
	print("margin=", p.getDynamicsInfo(plane,-1)[11])
	#time.sleep(1./10.)
This commit is contained in:
Erwin Coumans
2020-02-14 17:36:40 -08:00
parent b3ff3ebcb1
commit 6afa0a463d
7 changed files with 86 additions and 3 deletions
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26
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8927,6 +8927,18 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
mb->setMaxCoordinateVelocity(clientCmd.m_changeDynamicsInfoArgs.m_maxJointVelocity);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN)
{
mb->getBaseCollider()->getCollisionShape()->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
if (mb->getBaseCollider()->getCollisionShape()->isCompound())
{
btCompoundShape* compound = (btCompoundShape*)mb->getBaseCollider()->getCollisionShape();
for (int s = 0; s < compound->getNumChildShapes(); s++)
{
compound->getChildShape(s)->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
}
}
}
}
else
{
@@ -8968,6 +8980,10 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
mb->getLinkCollider(linkIndex)->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN)
{
mb->getLinkCollider(linkIndex)->getCollisionShape()->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING)
@@ -9115,6 +9131,10 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
//for a given sphere radius, use a motion threshold of half the radius, before the ccd algorithm is enabled
rb->setCcdMotionThreshold(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius / 2.);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_COLLISION_MARGIN)
{
rb->getCollisionShape()->setMargin(clientCmd.m_changeDynamicsInfoArgs.m_collisionMargin);
}
}
}
@@ -9165,6 +9185,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_contactProcessingThreshold = mb->getBaseCollider()->getContactProcessingThreshold();
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = mb->getBaseCollider()->getCcdSweptSphereRadius();
serverCmd.m_dynamicsInfo.m_frictionAnchor = mb->getBaseCollider()->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR;
serverCmd.m_dynamicsInfo.m_collisionMargin = mb->getBaseCollider()->getCollisionShape()->getMargin();
}
else
{
@@ -9172,6 +9193,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_contactProcessingThreshold = 0;
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = 0;
serverCmd.m_dynamicsInfo.m_frictionAnchor = 0;
serverCmd.m_dynamicsInfo.m_collisionMargin = 0;
}
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = mb->getBaseInertia()[0];
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[1] = mb->getBaseInertia()[1];
@@ -9214,6 +9236,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_contactProcessingThreshold = mb->getLinkCollider(linkIndex)->getContactProcessingThreshold();
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = mb->getLinkCollider(linkIndex)->getCcdSweptSphereRadius();
serverCmd.m_dynamicsInfo.m_frictionAnchor = mb->getLinkCollider(linkIndex)->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR;
serverCmd.m_dynamicsInfo.m_collisionMargin = mb->getLinkCollider(linkIndex)->getCollisionShape()->getMargin();
}
else
{
@@ -9221,6 +9244,7 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_contactProcessingThreshold = 0;
serverCmd.m_dynamicsInfo.m_ccdSweptSphereRadius = 0;
serverCmd.m_dynamicsInfo.m_frictionAnchor = 0;
serverCmd.m_dynamicsInfo.m_collisionMargin = 0;
}
serverCmd.m_dynamicsInfo.m_localInertialDiagonal[0] = mb->getLinkInertia(linkIndex)[0];
@@ -9277,12 +9301,14 @@ bool PhysicsServerCommandProcessor::processGetDynamicsInfoCommand(const struct S
serverCmd.m_dynamicsInfo.m_angularDamping = rb->getAngularDamping();
serverCmd.m_dynamicsInfo.m_linearDamping = rb->getLinearDamping();
serverCmd.m_dynamicsInfo.m_mass = rb->getMass();
serverCmd.m_dynamicsInfo.m_collisionMargin = rb->getCollisionShape() ? rb->getCollisionShape()->getMargin() : 0;
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
else if (body && body->m_softBody){
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED;
serverCmd.m_dynamicsInfo.m_bodyType = BT_SOFT_BODY;
serverCmd.m_dynamicsInfo.m_collisionMargin = 0;
}
#endif
return hasStatus;