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[pybullet] expose collision filter mode and max constraint force:

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pybullet.changeUserConstraint(maxForce=<double>)
pybullet.setPhysicsEngineParameter(collisionFilterMode=<int>)
This commit is contained in:
Erwin Coumans
2017-01-16 18:17:18 -08:00
parent 93471a1c31
commit 12a391e1f9
5 changed files with 55 additions and 4 deletions
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20
examples/pybullet/pybullet.c
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@@ -542,12 +542,15 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int useSplitImpulse = -1;
double splitImpulsePenetrationThreshold = -1;
int numSubSteps = -1;
int collisionFilterMode = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","physicsClientId", NULL };
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,&physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
&collisionFilterMode, &physicsClientId))
{
return NULL;
}
@@ -567,6 +570,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetNumSolverIterations(command, numSolverIterations);
}
if (collisionFilterMode>=0)
{
b3PhysicsParamSetCollisionFilterMode(command, collisionFilterMode);
}
if (numSubSteps >= 0)
{
b3PhysicsParamSetNumSubSteps(command, numSubSteps);
@@ -3016,7 +3023,7 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject *keywds)
{
static char *kwlist[] = { "userConstraintUniqueId","jointChildPivot", "jointChildFrameOrientation", "physicsClientId", NULL};
static char *kwlist[] = { "userConstraintUniqueId","jointChildPivot", "jointChildFrameOrientation","maxForce", "physicsClientId", NULL};
int userConstraintUniqueId=-1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
@@ -3027,8 +3034,9 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
PyObject* jointChildFrameOrnObj=0;
double jointChildPivot[3];
double jointChildFrameOrn[4];
double maxForce = -1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOi", kwlist,&userConstraintUniqueId,&jointChildPivotObj, &jointChildFrameOrnObj,&physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOdi", kwlist,&userConstraintUniqueId,&jointChildPivotObj, &jointChildFrameOrnObj,&maxForce, &physicsClientId))
{
return NULL;
}
@@ -3050,6 +3058,10 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
{
b3InitChangeUserConstraintSetFrameInB(commandHandle, jointChildFrameOrn);
}
if (maxForce>=0)
{
b3InitChangeUserConstraintSetMaxForce(commandHandle,maxForce);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);