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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2017-05-09 11:37:25 -07:00
parent 0f5b400895 566a59295b
commit 051e3f8b0c
10 changed files with 235 additions and 52 deletions
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15
examples/pybullet/examples/reset_dynamic_info.py
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@@ -3,18 +3,21 @@ import time
import math
p.connect(p.GUI)
p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
planeId = p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2])
p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
#p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
cubeId = p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
#p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
p.setGravity(0,0,-10)
p.setRealTimeSimulation(0)
t=0
while 1:
t=t+1
if t > 400:
p.resetDynamicInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
p.changeDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1)
mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1)
print mass1,frictionCoeff1
print mass2,frictionCoeff2
time.sleep(.01)
p.stepSimulation()

72
examples/pybullet/pybullet.c
View File

@@ -604,7 +604,7 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
return pylist;
}
static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObject* keywds)
static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds)
{
int bodyUniqueId = -1;
int linkIndex = -2;
@@ -627,17 +627,17 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj
}
{
b3SharedMemoryCommandHandle command = b3InitResetDynamicInfo(sm);
b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(sm);
b3SharedMemoryStatusHandle statusHandle;
if (mass >= 0)
{
b3ResetDynamicInfoSetMass(command, bodyUniqueId, linkIndex, mass);
b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
}
if (lateralFriction >= 0)
{
b3ResetDynamicInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
b3ChangeDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -647,6 +647,63 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj
return Py_None;
}
static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int bodyUniqueId = -1;
int linkIndex = -2;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle status_handle;
if (bodyUniqueId < 0)
{
PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid bodyUniqueId");
return NULL;
}
if (linkIndex < -1)
{
PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid linkIndex");
return NULL;
}
cmd_handle = b3GetDynamicsInfoCommandInit(sm, bodyUniqueId, linkIndex);
status_handle = b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle);
if (status_type != CMD_GET_DYNAMICS_INFO_COMPLETED)
{
PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid return status");
return NULL;
}
struct b3DynamicsInfo info;
if (b3GetDynamicsInfo(status_handle, &info))
{
PyObject* pyDynamicsInfo = PyTuple_New(2);
PyTuple_SetItem(pyDynamicsInfo, 0, PyFloat_FromDouble(info.m_mass));
PyTuple_SetItem(pyDynamicsInfo, 1, PyFloat_FromDouble(info.m_lateralFrictionCoeff));
return pyDynamicsInfo;
}
}
}
PyErr_SetString(SpamError, "Couldn't get dynamics info");
return NULL;
}
static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject* keywds)
{
double fixedTimeStep = -1;
@@ -5850,8 +5907,11 @@ static PyMethodDef SpamMethods[] = {
"Reset the state (position, velocity etc) for a joint on a body "
"instantaneously, not through physics simulation."},
{"resetDynamicInfo", (PyCFunction)pybullet_resetDynamicInfo, METH_VARARGS | METH_KEYWORDS,
"Reset dynamic information such as mass, lateral friction coefficient."},
{"changeDynamicsInfo", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"change dynamics information such as mass, lateral friction coefficient."},
{"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"Get dynamics information such as mass, lateral friction coefficient."},
{"setJointMotorControl", (PyCFunction)pybullet_setJointMotorControl, METH_VARARGS,
"This (obsolete) method cannot select non-zero physicsClientId, use setJointMotorControl2 instead."