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fix conflut

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Chuyuan Fu
2019-03-25 14:12:00 -07:00
parent 3768bbcae3 2ca6172f1a
commit 19f3ec8b80
2 changed files with 9 additions and 13 deletions
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16
examples/BulletRobotics/FixJointBoxes.cpp
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@@ -61,11 +61,7 @@ public:
b3RobotSimulatorLoadUrdfFileArgs args; b3RobotSimulatorLoadUrdfFileArgs args;
b3RobotSimulatorChangeDynamicsArgs dynamicsArgs; b3RobotSimulatorChangeDynamicsArgs dynamicsArgs;
for (int i = 0; i < numCubes; i++) b3RobotJointInfo jointInfo;
{
args.m_forceOverrideFixedBase = (i == 0);
args.m_startPosition.setValue(0, i * 0.05, 1);
cubeIds[i] = m_robotSim.loadURDF("cube_small.urdf", args);
b3RobotJointInfo jointInfo; b3RobotJointInfo jointInfo;
@@ -158,11 +154,11 @@ public:
virtual void resetCamera() virtual void resetCamera()
{ {
float dist = 1; float dist = 1;
float pitch = -20; float pitch = -20;
float yaw = -30; float yaw = -30;
float targetPos[3] = {0, 0.2, 0.5}; float targetPos[3] = {0, 0.2, 0.5};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]); m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
} }
}; };

6
examples/pybullet/pybullet.c
View File

@@ -1243,11 +1243,11 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
PyObject* localInertiaDiagonalObj = 0; PyObject* localInertiaDiagonalObj = 0;
PyObject* anisotropicFrictionObj = 0; PyObject* anisotropicFrictionObj = 0;
double maxJointVelocity = -1; double maxJointVelocity = -1;
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "maxJointVelocity", "physicsClientId", NULL}; static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "maxJointVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOdi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &maxJointVelocity, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOdi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &maxJointVelocity, &physicsClientId))
{ {
return NULL; return NULL;
@@ -1340,7 +1340,7 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{ {
b3ChangeDynamicsInfoSetMaxJointVelocity(command, bodyUniqueId, maxJointVelocity); b3ChangeDynamicsInfoSetMaxJointVelocity(command, bodyUniqueId, maxJointVelocity);
} }
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
} }