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enable motor control for maximal coordinates robots (btRigidBody, btTypedConstraint) for force, velocity, position control.

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This commit is contained in:
erwincoumans
2017-08-29 19:14:27 -07:00
parent 4ff6befc6d
commit 1f7db4519e
5 changed files with 386 additions and 20 deletions
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25
examples/pybullet/pybullet.c
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@@ -2827,8 +2827,17 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
// info.m_jointDamping,
// info.m_jointFriction);
PyTuple_SetItem(pyListJointInfo, 0, PyInt_FromLong(info.m_jointIndex));
PyTuple_SetItem(pyListJointInfo, 1,
PyString_FromString(info.m_jointName));
if (info.m_jointName)
{
PyTuple_SetItem(pyListJointInfo, 1,
PyString_FromString(info.m_jointName));
} else
{
PyTuple_SetItem(pyListJointInfo, 1,
PyString_FromString("not available"));
}
PyTuple_SetItem(pyListJointInfo, 2, PyInt_FromLong(info.m_jointType));
PyTuple_SetItem(pyListJointInfo, 3, PyInt_FromLong(info.m_qIndex));
PyTuple_SetItem(pyListJointInfo, 4, PyInt_FromLong(info.m_uIndex));
@@ -2845,8 +2854,16 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
PyFloat_FromDouble(info.m_jointMaxForce));
PyTuple_SetItem(pyListJointInfo, 11,
PyFloat_FromDouble(info.m_jointMaxVelocity));
PyTuple_SetItem(pyListJointInfo, 12,
PyString_FromString(info.m_linkName));
if (info.m_linkName)
{
PyTuple_SetItem(pyListJointInfo, 12,
PyString_FromString(info.m_linkName));
} else
{
PyTuple_SetItem(pyListJointInfo, 12,
PyString_FromString("not available"));
}
return pyListJointInfo;
}