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Merge branch 'master' of git://github.com/bulletphysics/bullet3 into addFovToRenderImage

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This commit is contained in:
Mat Kelcey
2016-07-12 13:52:25 -07:00
parent 54979a0f89 787cb0cb17
commit 048c01d7c4
89 changed files with 4150 additions and 372 deletions
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35
examples/pybullet/pybullet.c
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@@ -172,6 +172,8 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
&startOrnX,&startOrnY,&startOrnZ, &startOrnW))
return NULL;
}
if (strlen(urdfFileName))
{
// printf("(%f, %f, %f) (%f, %f, %f, %f)\n", startPosX,startPosY,startPosZ,startOrnX, startOrnY,startOrnZ, startOrnW);
@@ -185,12 +187,16 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_URDF_LOADING_COMPLETED)
{
PyErr_SetString(SpamError, "Cannot load URDF file.");
return NULL;
}
{
PyErr_SetString(SpamError, "Cannot load URDF file.");
return NULL;
}
bodyIndex = b3GetStatusBodyIndex(statusHandle);
}
} else
{
PyErr_SetString(SpamError, "Empty filename, method expects 1, 4 or 8 arguments.");
return NULL;
}
return PyLong_FromLong(bodyIndex);
}
@@ -368,8 +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;
@@ -383,8 +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;
@@ -1283,10 +1289,12 @@ 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);
}
}
}
@@ -1402,12 +1410,13 @@ 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);
{