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pybullet allow to enable/change joint limits:

Browse Source 
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLowerLimit=..., jointUpperLimit=...) # jointLowerLimit <= jointUpperLimit

and joint limit max force:
pybullet.changeDynamicsInfo(objectUniqueId, linkIndex, jointLimitForce=...)

For example:
p.changeDynamics(sphereUid,linkIndex, jointLowerLimit=1, jointUpperLimit=3, jointLimitForce=10.5)

add b3ChangeDynamicsInfoSetJointLimit/b3ChangeDynamicsInfoSetJointLimitForce
add getConstraintType for btMultiBodyConstraint
This commit is contained in:
Erwin Coumans
2020-07-07 19:42:23 -07:00
parent 73fffd1449
commit c517c434e6
15 changed files with 173 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

71
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -14,6 +14,9 @@
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodySphericalJointMotor.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
#include "../Utils/b3BulletDefaultFileIO.h"
#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
@@ -9308,6 +9311,74 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
if (linkIndex >= 0 && linkIndex < mb->getNumLinks())
{
if ((clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE) ||
(clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS))
{
btMultiBodyJointLimitConstraint* limC = 0;
int numConstraints = m_data->m_dynamicsWorld->getNumMultiBodyConstraints();
for (int c = 0; c < numConstraints; c++)
{
btMultiBodyConstraint* mbc = m_data->m_dynamicsWorld->getMultiBodyConstraint(c);
if (mbc->getConstraintType() == MULTIBODY_CONSTRAINT_LIMIT)
{
if (((mbc->getMultiBodyA() == mb) && (mbc->getLinkA() == linkIndex))
||
((mbc->getMultiBodyB() == mb) && ((mbc->getLinkB() == linkIndex)))
)
{
limC = (btMultiBodyJointLimitConstraint*)mbc;
}
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMITS)
{
//find a joint limit
btScalar prevUpper = mb->getLink(linkIndex).m_jointUpperLimit;
btScalar prevLower = mb->getLink(linkIndex).m_jointLowerLimit;
btScalar lower = clientCmd.m_changeDynamicsInfoArgs.m_jointLowerLimit;
btScalar upper = clientCmd.m_changeDynamicsInfoArgs.m_jointUpperLimit;
bool enableLimit = lower <= upper;
if (enableLimit)
{
if (limC == 0)
{
limC = new btMultiBodyJointLimitConstraint(mb, linkIndex, lower, upper);
m_data->m_dynamicsWorld->addMultiBodyConstraint(limC);
}
else
{
limC->setLowerBound(lower);
limC->setUpperBound(upper);
}
}
else
{
if (limC)
{
m_data->m_dynamicsWorld->removeMultiBodyConstraint(limC);
delete limC;
limC = 0;
}
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_JOINT_LIMIT_MAX_FORCE)
{
btScalar fixedTimeSubStep = m_data->m_numSimulationSubSteps > 0 ? m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps : m_data->m_physicsDeltaTime;
btScalar maxImpulse = clientCmd.m_changeDynamicsInfoArgs.m_jointLimitForce * fixedTimeSubStep;
if (limC)
{
//convert from force to impulse
limC->setMaxAppliedImpulse(maxImpulse);
}
}
}
if (mb->getLinkCollider(linkIndex))
{
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)