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Added gear info to getConstraintInfo return.

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Fixed bug in GEAR constraint update.
This commit is contained in:
Jonathan Tompson
2017-10-22 11:03:41 -07:00
parent c149840264
commit 03b2cfe991
3 changed files with 25 additions and 1 deletions
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6
examples/pybullet/pybullet.c
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@@ -2487,7 +2487,7 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
if (b3GetUserConstraintInfo(sm, constraintUniqueId, &constraintInfo))
{
PyObject* pyListConstraintInfo = PyTuple_New(11);
PyObject* pyListConstraintInfo = PyTuple_New(15);
PyTuple_SetItem(pyListConstraintInfo, 0, PyLong_FromLong(constraintInfo.m_parentBodyIndex));
PyTuple_SetItem(pyListConstraintInfo, 1, PyLong_FromLong(constraintInfo.m_parentJointIndex));
@@ -2533,6 +2533,10 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
PyTuple_SetItem(pyListConstraintInfo, 9, childFrameOrientation);
}
PyTuple_SetItem(pyListConstraintInfo, 10, PyFloat_FromDouble(constraintInfo.m_maxAppliedForce));
PyTuple_SetItem(pyListConstraintInfo, 11, PyFloat_FromDouble(constraintInfo.m_gearRatio));
PyTuple_SetItem(pyListConstraintInfo, 12, PyLong_FromLong(constraintInfo.m_gearAuxLink));
PyTuple_SetItem(pyListConstraintInfo, 13, PyFloat_FromDouble(constraintInfo.m_relativePositionTarget));
PyTuple_SetItem(pyListConstraintInfo, 14, PyFloat_FromDouble(constraintInfo.m_erp));
return pyListConstraintInfo;
}