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bulletphysics / bullet3

Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
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BUG: RayTest with Softbody returns no index(PyBullet) #3046

Closed Simon-Steinmann closed 3 years ago

Simon-Steinmann commented 4 years ago

Hi, After 2days of researching, source code inspection and hours of github issues reading, I'm at my wit's end. My goal is, to simulate a robot with a suctiono gripper, to pic up textiles. I got so far as to add and remove softBodyAnchors, however, the issue is, that I have to know the nodeID of where to attach the anchor. I tried getting that ID by using p.rayTestBatch(pos1, pos2), but it only returns the object ID and -1as the nodeID.

I managed to get the mouse picking to work on the textile, making me wonder, whether something like this could be used. Applying forces to the softBody, where a rayTest intersects it. is this possible somehow?

I would really appreciate it, if someone could answer any of these questions, propose a different solution or point me in the right direction.

erwincoumans commented 4 years ago

I just spend a few days improving the deformables/soft body, and also allowed to get the mesh data of the simulation mesh. image Will report when the example/pull request is there.

Simon-Steinmann commented 4 years ago

Thank you so much. This is highly appreciated. If I can do anything to help or test, let me know. My c++ skills are limited (can read it a bit, but not proficient coder). But I'm good with python. Will this allow one to get the nodeID of a softbody?