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Add python binding and a pybullet example for loading softbody from obj.

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This commit is contained in:
yunfeibai
2018-01-08 18:10:28 -08:00
parent d3bc98e245
commit 0e0d3da2b5
3 changed files with 88 additions and 4 deletions
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66
examples/pybullet/pybullet.c
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@@ -1353,6 +1353,67 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
return pylist;
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
// Load a softbody from an obj file
static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int flags = 0;
static char* kwlist[] = {"fileName", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
int bodyUniqueId= -1;
const char* fileName = "";
double scale = -1;
double mass = -1;
double collisionMargin = -1;
b3PhysicsClientHandle sm = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|dddi", kwlist, &fileName, &scale, &mass, &collisionMargin, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (strlen(fileName))
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
b3SharedMemoryCommandHandle command =
b3LoadSoftBodyCommandInit(sm, fileName);
if (scale>0)
{
b3LoadSoftBodySetScale(command,scale);
}
if (mass>0)
{
b3LoadSoftBodySetMass(command,mass);
}
if (collisionMargin>0)
{
b3LoadSoftBodySetCollisionMargin(command,collisionMargin);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_CLIENT_COMMAND_COMPLETED)
{
PyErr_SetString(SpamError, "Cannot load soft body.");
return NULL;
}
bodyUniqueId = b3GetStatusBodyIndex(statusHandle);
}
return PyLong_FromLong(bodyUniqueId);
}
#endif
// Reset the simulation to remove all loaded objects
static PyObject* pybullet_resetSimulation(PyObject* self, PyObject* args, PyObject* keywds)
{
@@ -7861,7 +7922,10 @@ static PyMethodDef SpamMethods[] = {
{"loadSDF", (PyCFunction)pybullet_loadSDF, METH_VARARGS | METH_KEYWORDS,
"Load multibodies from an SDF file."},
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
{"loadSoftBody", (PyCFunction)pybullet_loadSoftBody, METH_VARARGS | METH_KEYWORDS,
"Load a softbody from an obj file."},
#endif
{"loadBullet", (PyCFunction)pybullet_loadBullet, METH_VARARGS | METH_KEYWORDS,
"Load a world from a .bullet file."},