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pybullet.changeDynamicsInfo/b3ChangeDynamicsInfoSetContactStiffnessAndDamping expose contactStiffness/contactDamping

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Erwin Coumans
2017-06-07 08:37:42 -07:00
parent 877e2cf9f9
commit 0c3a3cc466
5 changed files with 41 additions and 4 deletions
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12
examples/pybullet/pybullet.c
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@@ -625,12 +625,13 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double restitution = -1;
double linearDamping = -1;
double angularDamping = -1;
double contactStiffness = -1;
double contactDamping = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &physicsClientId))
{
return NULL;
}
@@ -671,12 +672,15 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetAngularDamping(command,bodyUniqueId,angularDamping);
}
if (restitution>=0)
{
b3ChangeDynamicsInfoSetRestitution(command, bodyUniqueId, linkIndex, restitution);
}
if (contactStiffness>=0 && contactDamping >=0)
{
b3ChangeDynamicsInfoSetContactStiffnessAndDamping(command,bodyUniqueId,linkIndex,contactStiffness, contactDamping);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}