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make setJointPosMultiDof and setJointVelMultiDof argument const.

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add PyBullet.resetJointStateMultiDof / getJointStateMultiDof, for preliminary support for spherical and planar joints
This commit is contained in:
erwincoumans
2018-11-10 14:26:31 -08:00
parent 642c6a71d2
commit 17219f84c6
14 changed files with 512 additions and 36 deletions
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63
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -383,8 +383,65 @@ void ConvertURDF2BulletInternal(
switch (jointType)
{
case URDFFloatingJoint:
case URDFSphericalJoint:
{
if (createMultiBody)
{
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
cache.m_bulletMultiBody->setupSpherical(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
parentRotToThis, offsetInA.getOrigin(), -offsetInB.getOrigin(),
disableParentCollision);
}
else
{
btAssert(0);
}
break;
}
case URDFPlanarJoint:
{
if (createMultiBody)
{
#if 0
void setupPlanar(int i, // 0 to num_links-1
btScalar mass,
const btVector3 &inertia,
int parent,
const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0
const btVector3 &rotationAxis,
const btVector3 &parentComToThisComOffset, // vector from parent COM to this COM, in PARENT frame
bool disableParentCollision = false);
#endif
creation.addLinkMapping(urdfLinkIndex, mbLinkIndex);
cache.m_bulletMultiBody->setupPlanar(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
parentRotToThis, quatRotate(offsetInB.getRotation(), jointAxisInJointSpace), offsetInA.getOrigin(),
disableParentCollision);
}
else
{
#if 0
//b3Printf("Fixed joint\n");
btGeneric6DofSpring2Constraint* dof6 = 0;
//backward compatibility
if (flags & CUF_RESERVED)
{
dof6 = creation.createFixedJoint(urdfLinkIndex, *parentRigidBody, *linkRigidBody, offsetInA, offsetInB);
}
else
{
dof6 = creation.createFixedJoint(urdfLinkIndex, *linkRigidBody, *parentRigidBody, offsetInB, offsetInA);
}
if (enableConstraints)
world1->addConstraint(dof6, true);
#endif
}
break;
}
case URDFFloatingJoint:
case URDFFixedJoint:
{
if ((jointType == URDFFloatingJoint) || (jointType == URDFPlanarJoint))
@@ -426,7 +483,9 @@ void ConvertURDF2BulletInternal(
if (createMultiBody)
{
cache.m_bulletMultiBody->setupRevolute(mbLinkIndex, mass, localInertiaDiagonal, mbParentIndex,
parentRotToThis, quatRotate(offsetInB.getRotation(), jointAxisInJointSpace), offsetInA.getOrigin(), //parent2joint.getOrigin(),
parentRotToThis, quatRotate(offsetInB.getRotation(),
jointAxisInJointSpace),
offsetInA.getOrigin(),
-offsetInB.getOrigin(),
disableParentCollision);