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fix MSVC 2010 compile issue

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urdfEditor: fix scale incorrectly saved in urdfEditor.saveUrdf
urdfEditor: fix linkMeshScaleArray in wrong location
This commit is contained in:
erwincoumans
2018-05-10 12:04:13 -07:00
parent a0e72b2ae3
commit 3116cd82da
2 changed files with 10 additions and 8 deletions
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11
examples/pybullet/gym/pybullet_utils/urdfEditor.py
View File

@@ -117,8 +117,8 @@ class UrdfEditor(object):
if (v[2]==p.GEOM_SPHERE): if (v[2]==p.GEOM_SPHERE):
urdfCollision.geom_radius = v[3][0] urdfCollision.geom_radius = v[3][0]
if (v[2]==p.GEOM_MESH): if (v[2]==p.GEOM_MESH):
urdfCollision.geom_meshfilename = v[4].decode("utf-8") urdfCollision.geom_meshfilename = v[4].decode("utf-8")
urdfCollision.geom_meshscale = v[3] urdfCollision.geom_meshscale = v[3]
if (v[2]==p.GEOM_CYLINDER): if (v[2]==p.GEOM_CYLINDER):
urdfCollision.geom_length=v[3][0] urdfCollision.geom_length=v[3][0]
urdfCollision.geom_radius=v[3][1] urdfCollision.geom_radius=v[3][1]
@@ -255,7 +255,7 @@ class UrdfEditor(object):
prec=precision) prec=precision)
file.write(str) file.write(str)
if urdfCollision.geom_type == p.GEOM_MESH: if urdfCollision.geom_type == p.GEOM_MESH:
str = '\t\t\t\t<mesh filename=\"{}\"/> scale=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\"\n'.format(urdfCollision.geom_meshfilename,\ str = '\t\t\t\t<mesh filename=\"{}\" scale=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\"/>\n'.format(urdfCollision.geom_meshfilename,\
urdfCollision.geom_meshscale[0],urdfCollision.geom_meshscale[1],urdfCollision.geom_meshscale[2],prec=precision) urdfCollision.geom_meshscale[0],urdfCollision.geom_meshscale[1],urdfCollision.geom_meshscale[2],prec=precision)
file.write(str) file.write(str)
if urdfCollision.geom_type == p.GEOM_CYLINDER: if urdfCollision.geom_type == p.GEOM_CYLINDER:
@@ -422,7 +422,7 @@ class UrdfEditor(object):
linkVisualShapeIndices=[] linkVisualShapeIndices=[]
linkPositions=[] linkPositions=[]
linkOrientations=[] linkOrientations=[]
linkMeshScaleArray=[]
linkInertialFramePositions=[] linkInertialFramePositions=[]
linkInertialFrameOrientations=[] linkInertialFrameOrientations=[]
linkParentIndices=[] linkParentIndices=[]
@@ -446,6 +446,7 @@ class UrdfEditor(object):
linkHalfExtentsArray=[] linkHalfExtentsArray=[]
lengthsArray=[] lengthsArray=[]
fileNameArray=[] fileNameArray=[]
linkMeshScaleArray=[]
linkPositionsArray=[] linkPositionsArray=[]
linkOrientationsArray=[] linkOrientationsArray=[]
@@ -470,7 +471,7 @@ class UrdfEditor(object):
collisionFramePositions=linkPositionsArray, collisionFramePositions=linkPositionsArray,
collisionFrameOrientations=linkOrientationsArray, collisionFrameOrientations=linkOrientationsArray,
physicsClientId=physicsClientId) physicsClientId=physicsClientId)
urdfVisuals = link.urdf_visual_shapes urdfVisuals = link.urdf_visual_shapes
linkVisualShapeIndex = -1 linkVisualShapeIndex = -1
shapeTypes=[v.geom_type for v in urdfVisuals] shapeTypes=[v.geom_type for v in urdfVisuals]

7
examples/pybullet/pybullet.c
View File

@@ -605,6 +605,10 @@ static PyObject* pybullet_syncBodyInfo(PyObject* self, PyObject* args, PyObject*
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = {"physicsClientId", NULL}; static char* kwlist[] = {"physicsClientId", NULL};
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
{ {
return NULL; return NULL;
@@ -616,9 +620,6 @@ static PyObject* pybullet_syncBodyInfo(PyObject* self, PyObject* args, PyObject*
return NULL; return NULL;
} }
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
command = b3InitSyncBodyInfoCommand(sm); command = b3InitSyncBodyInfoCommand(sm);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);