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shrink down cube size of BasicDemo 10 times (it looked ginormous in VR) from 2x2x2 meter to 0.2

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add test for VR HUD/sub-titles
fix issue in previous commit, partial string use %.8s not %8.s
use long long int in b3Clock
fix warning/error in pointer alignment in serialization
Fix pybullet Windows compilation.
(thanks to bkeys/https://github.com/bulletphysics/bullet3/pull/687)
This commit is contained in:
erwin coumans
2016-07-09 15:09:09 -07:00
parent 35b260b252
commit 02582e3a78
28 changed files with 243 additions and 170 deletions
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19
examples/pybullet/pybullet.c
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@@ -374,8 +374,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
{
case CONTROL_MODE_VELOCITY:
{
double kd = gains;
b3JointControlSetDesiredVelocity(commandHandle, info.m_uIndex, targetValue);
double kd = gains;
b3JointControlSetKd(commandHandle,info.m_uIndex,kd);
b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
break;
@@ -389,8 +389,8 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
case CONTROL_MODE_POSITION_VELOCITY_PD:
{
double kp = gains;
b3JointControlSetDesiredPosition( commandHandle, info.m_qIndex, targetValue);
double kp = gains;
b3JointControlSetKp(commandHandle,info.m_uIndex,kp);
b3JointControlSetMaximumForce(commandHandle,info.m_uIndex,maxForce);
break;
@@ -1270,10 +1270,12 @@ static PyObject* pybullet_applyExternalTorque(PyObject* self, PyObject* args)
PyErr_SetString(SpamError, "flag has to be either WORLD_FRAME or LINK_FRAME");
return NULL;
}
b3SharedMemoryStatusHandle statusHandle;
b3SharedMemoryCommandHandle command = b3ApplyExternalForceCommandInit(sm);
b3ApplyExternalTorque(command,objectUniqueId,-1,torque, flags);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
{
b3SharedMemoryStatusHandle statusHandle;
b3SharedMemoryCommandHandle command = b3ApplyExternalForceCommandInit(sm);
b3ApplyExternalTorque(command,objectUniqueId,-1,torque, flags);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
}
}
@@ -1389,12 +1391,13 @@ static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, PyObject* args)
{
double rpy[3];
sqx = quat[0] * quat[0];
double sarg;
sqx = quat[0] * quat[0];
sqy = quat[1] * quat[1];
sqz = quat[2] * quat[2];
squ = quat[3] * quat[3];
rpy[0] = atan2(2 * (quat[1]*quat[2] + quat[3]*quat[0]), squ - sqx - sqy + sqz);
double sarg = -2 * (quat[0]*quat[2] - quat[3] * quat[1]);
sarg = -2 * (quat[0]*quat[2] - quat[3] * quat[1]);
rpy[1] = sarg <= -1.0 ? -0.5*3.141592538 : (sarg >= 1.0 ? 0.5*3.141592538 : asin(sarg));
rpy[2] = atan2(2 * (quat[0]*quat[1] + quat[3]*quat[2]), squ + sqx - sqy - sqz);
{