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implement a few more pybullet methods:

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pybullet_applyExternalForce, pybullet_applyExternalTorque, pybullet_setTimeStep,
pybullet_resetBasePositionAndOrientation,
pybullet_getQuaternionFromEuler,
pybullet_getEulerFromQuaternion
This commit is contained in:
Erwin Coumans
2016-06-26 18:18:30 -07:00
parent a15eb3035e
commit 013dbda023
7 changed files with 547 additions and 149 deletions
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47
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -903,3 +903,50 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
}
}
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_APPLY_EXTERNAL_FORCE;
command->m_updateFlags = 0;
command->m_externalForceArguments.m_numForcesAndTorques = 0;
return (b3SharedMemoryCommandHandle) command;
}
void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flag)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_APPLY_EXTERNAL_FORCE);
int index = command->m_externalForceArguments.m_numForcesAndTorques;
command->m_externalForceArguments.m_bodyUniqueIds[index] = bodyUniqueId;
command->m_externalForceArguments.m_linkIds[index] = linkId;
command->m_externalForceArguments.m_forceFlags[index] = EF_FORCE+flag;
for (int i = 0; i < 3; ++i) {
command->m_externalForceArguments.m_forcesAndTorques[index+i] = force[i];
command->m_externalForceArguments.m_positions[index+i] = position[i];
}
command->m_externalForceArguments.m_numForcesAndTorques++;
}
void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flag)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_APPLY_EXTERNAL_FORCE);
int index = command->m_externalForceArguments.m_numForcesAndTorques;
command->m_externalForceArguments.m_bodyUniqueIds[index] = bodyUniqueId;
command->m_externalForceArguments.m_linkIds[index] = linkId;
command->m_externalForceArguments.m_forceFlags[index] = EF_TORQUE+flag;
for (int i = 0; i < 3; ++i) {
command->m_externalForceArguments.m_forcesAndTorques[index+i] = torque[i];
}
command->m_externalForceArguments.m_numForcesAndTorques++;
}