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Merge pull request #886 from erwincoumans/master

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some VR tweaks and bugfix for issue #878
This commit is contained in:
erwincoumans
2016-12-11 12:53:47 -08:00
committed by GitHub
parent e8f38df121 436fdd5dc2
commit 0c26fee04d
14 changed files with 178 additions and 91 deletions
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10
examples/pybullet/pybullet.c
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@@ -432,7 +432,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
return NULL;
}
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold","numSubSteps", NULL };
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidi", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps))
{
@@ -446,6 +446,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetNumSolverIterations(command, numSolverIterations);
}
if (numSubSteps >= 0)
{
b3PhysicsParamSetNumSubSteps(command, numSubSteps);
}
if (fixedTimeStep >= 0)
{
b3PhysicsParamSetTimeStep(command, fixedTimeStep);
@@ -458,10 +462,6 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetSplitImpulsePenetrationThreshold(command, splitImpulsePenetrationThreshold);
}
if (numSubSteps>=0)
{
b3PhysicsParamSetNumSubSteps(command,numSubSteps);
}
//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);

12
examples/pybullet/quadruped.py
View File

@@ -4,9 +4,10 @@ import math
p.connect(p.SHARED_MEMORY)
p.loadURDF("plane.urdf")
quadruped = p.loadURDF("quadruped/quadruped.urdf",0,0,.3)
p.setGravity(0,0,-1)
p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/quadruped.urdf",10,-2,2)
#p.getNumJoints(1)
#right front leg
p.resetJointState(quadruped,0,1.57)
p.resetJointState(quadruped,2,-2.2)
@@ -64,16 +65,17 @@ p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1)
p.setJointMotorControl(quadruped,22,p.VELOCITY_CONTROL,0,0)
p.setJointMotorControl(quadruped,23,p.VELOCITY_CONTROL,0,0)
p.setGravity(0,0,-10)
p_gain = 2
speed = 10
amplitude = 1.3
#stand still
t_end = time.time() + 5
t_end = time.time() + 2
while time.time() < t_end:
p.stepSimulation()
p.setGravity(0,0,-10)
jump_amp = 0.5
@@ -125,4 +127,4 @@ while time.time() < t_end:
p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1)
p.stepSimulation()
p.setRealTimeSimulation(1)