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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2017-03-23 13:55:44 -07:00
parent d717b1db84 1aff189fdd
commit 0a552c3ba1
5 changed files with 67 additions and 12 deletions
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examples/pybullet/pybullet.c
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@@ -1864,11 +1864,13 @@ static PyObject* pybullet_resetJointState(PyObject* self, PyObject* args, PyObje
int bodyUniqueId;
int jointIndex;
double targetValue;
double targetVelocity = 0;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "jointIndex", "targetValue", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iid|i", kwlist, &bodyUniqueId, &jointIndex, &targetValue, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "jointIndex", "targetValue", "targetVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iid|di", kwlist, &bodyUniqueId, &jointIndex, &targetValue, &targetVelocity, &physicsClientId))
{
return NULL;
}
@@ -1896,6 +1898,9 @@ static PyObject* pybullet_resetJointState(PyObject* self, PyObject* args, PyObje
b3CreatePoseCommandSetJointPosition(sm, commandHandle, jointIndex,
targetValue);
b3CreatePoseCommandSetJointVelocity(sm, commandHandle, jointIndex,
targetVelocity);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
}
@@ -2975,8 +2980,6 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj
static PyObject* pybullet_getKeyboardEvents(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
struct b3KeyboardEventsData keyboardEventsData;
@@ -5434,6 +5437,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "STATE_LOGGING_MINITAUR", STATE_LOGGING_MINITAUR);
PyModule_AddIntConstant(m, "STATE_LOGGING_GENERIC_ROBOT", STATE_LOGGING_GENERIC_ROBOT);
PyModule_AddIntConstant(m, "STATE_LOGGING_VR_CONTROLLERS", STATE_LOGGING_VR_CONTROLLERS);
PyModule_AddIntConstant(m, "STATE_LOGGING_VIDEO_MP4", STATE_LOGGING_VIDEO_MP4);
PyModule_AddIntConstant(m, "COV_ENABLE_GUI", COV_ENABLE_GUI);
PyModule_AddIntConstant(m, "COV_ENABLE_SHADOWS", COV_ENABLE_SHADOWS);