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Setting the gravity vector #78

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Setting the gravity vector #78

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9852ddd
gravity
StanislavPetrovV Nov 16, 2023
d96ec87
Update ReadMe.md
StanislavPetrovV Dec 2, 2023
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14 changes: 4 additions & 10 deletions ReadMe.md
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Original file line number Diff line number Diff line change
Expand Up @@ -6,20 +6,14 @@
### PIP installation
To install for the first time:
```
pip install git+https://github.com/petrikvladimir/pyphysx.git@master
pip install git+https://github.com/StanislavPetrovV/pyphysx.git@master
```
To update if its already installed:
```
pip install --upgrade git+https://github.com/petrikvladimir/pyphysx.git@master
pip install --upgrade git+https://github.com/StanislavPetrovV/pyphysx.git@master
```

Optionally, you can install in anaconda
```
conda create -n py38 python=3.8
conda activate py38
conda install -c anaconda gcc_linux-64 gxx_linux-64
pip install git+https://github.com/petrikvladimir/pyphysx.git@master
```


### Build from source
If pip install fails, build the library from source.
Expand All @@ -36,7 +30,7 @@ pip install --upgrade numpy
pip install codecov pyrender imageio imageio_ffmpeg trimesh networkx numba numpy_quaternion matplotlib scipy anytree meshcat pytest-cov

# Clone and build from source:
git clone https://github.com/petrikvladimir/pyphysx.git
git clone https://github.com/StanislavPetrovV/pyphysx.git
python setup.py install --user
```

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5 changes: 3 additions & 2 deletions include/Scene.h
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Expand Up @@ -19,13 +19,14 @@ class Scene : public BasePhysxPointer<physx::PxScene> {
const physx::PxBroadPhaseType::Enum &broad_phase_type,
const std::vector<physx::PxSceneFlag::Enum> &scene_flags,
size_t gpu_max_num_partitions,
float gpu_dynamic_allocation_scale
float gpu_dynamic_allocation_scale,
physx::PxVec3 gravity
) : BasePhysxPointer() {
physx::PxSceneDesc sceneDesc(Physics::get().physics->getTolerancesScale());
sceneDesc.cpuDispatcher = Physics::get().dispatcher;
sceneDesc.cudaContextManager = Physics::get().cuda_context_manager;
sceneDesc.filterShader = physx::PxDefaultSimulationFilterShader;
sceneDesc.gravity = physx::PxVec3(0.0f, 0.0f, -9.81f);
sceneDesc.gravity = gravity;
for (const auto &flag : scene_flags) {
sceneDesc.flags |= flag;
}
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5 changes: 3 additions & 2 deletions src/pyphysx.cpp
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Expand Up @@ -135,12 +135,13 @@ PYBIND11_MODULE(_pyphysx, m) {
.def_static("init_gpu", &Physics::init_gpu);

py::class_<Scene>(m, "Scene")
.def(py::init<physx::PxFrictionType::Enum, physx::PxBroadPhaseType::Enum, std::vector<physx::PxSceneFlag::Enum>, size_t, float>(),
.def(py::init<physx::PxFrictionType::Enum, physx::PxBroadPhaseType::Enum, std::vector<physx::PxSceneFlag::Enum>, size_t, float, physx::PxVec3>(),
arg("friction_type") = physx::PxFrictionType::ePATCH,
arg("broad_phase_type") = physx::PxBroadPhaseType::eABP,
arg("scene_flags") = std::vector<physx::PxSceneFlag::Enum>(),
arg("gpu_max_num_partitions") = 8,
arg("gpu_dynamic_allocation_scale") = 1.
arg("gpu_dynamic_allocation_scale") = 1.,
arg("gravity") = physx::PxVec3(0.0, 0.0, -9.81)
)
.def("simulate", &Scene::simulate,
arg("dt") = 1. / 60.
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