Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #2167 from erwincoumans/master

Browse Source 
fix memleak in calculateInverseKinematics + joint limits.
This commit is contained in:
erwincoumans
2019-03-21 14:28:57 -07:00
committed by GitHub
parent 2e81714e7a 94d8ee74f7
commit 3768bbcae3
5 changed files with 746 additions and 193 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -149,7 +149,6 @@ SET(BulletExampleBrowser_SRCS
../BulletRobotics/BoxStack.cpp ../BulletRobotics/BoxStack.cpp
../BulletRobotics/JointLimit.cpp ../BulletRobotics/JointLimit.cpp
# ../BulletRobotics/GraspBox.cpp # ../BulletRobotics/GraspBox.cpp
../BulletRobotics/FixJointBoxes.cpp
../TinyRenderer/geometry.cpp ../TinyRenderer/geometry.cpp
../TinyRenderer/model.cpp ../TinyRenderer/model.cpp

5
examples/ExampleBrowser/premake4.lua
View File

@@ -89,7 +89,10 @@ project "App_BulletExampleBrowser"
"main.cpp", "main.cpp",
"ExampleEntries.cpp", "ExampleEntries.cpp",
"../InverseKinematics/*", "../InverseKinematics/*",
"../TinyRenderer/geometry.cpp", "../BulletRobotics/FixJointBoxes.cpp",
"../BulletRobotics/BoxStack.cpp",
"../BulletRobotics/JointLimit.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp", "../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp", "../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp", "../TinyRenderer/our_gl.cpp",

568
examples/pybullet/gym/pybullet_data/quadruped/vision60.urdf Normal file
View File

@@ -0,0 +1,568 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from vision60.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
MIT License (modified)
Copyright (c) 2018 Ghost Robotics
Authors:
Avik De <avik@ghostrobotics.io>
Tom Jacobs <tom.jacobs@ghostrobotics.io>
Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
-->
<robot name="ngr" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Define parameters -->
<!-- Define materials -->
<material name="gray">
<color rgba="0.5 0.5 0.5 0.7"/>
</material>
<material name="darkgray">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="purple">
<color rgba="0.5 0.0 0.5 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.2 1.0"/>
</material>
<!-- Body -->
<link name="body">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.88 0.25 0.19"/>
</geometry>
<material name="gray"/>
</visual>
<inertial>
<mass value="12"/>
<!-- Uniform box -->
<inertia ixx="0.0986" ixy="0" ixz="0" iyy="0.8105" iyz="0" izz="0.8369"/>
</inertial>
<!-- Just copy geometry for collision -->
<collision>
<geometry>
<box size="0.05 0.25 0.19"/>
</geometry>
</collision>
</link>
<!-- Define our leg macro -->
<!-- red new legs -->
<!-- TODO: clean this, it should be part of main leg macro -->
<!-- Define our leg macro -->
<!-- Our four legs -->
<!-- Hip motor -->
<link name="hip0">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="8" type="revolute">
<parent link="body"/>
<child link="hip0"/>
<axis xyz="1 0 0"/>
<origin xyz="0.325 0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper0">
<visual>
<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="0" type="revolute">
<parent link="hip0"/>
<child link="upper0"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower0">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="1" type="revolute">
<parent link="upper0"/>
<child link="lower0"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe0">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe0" type="fixed">
<parent link="lower0"/>
<child link="toe0"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip1">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="purple"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 -0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="9" type="revolute">
<parent link="body"/>
<child link="hip1"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.325 0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper1">
<visual>
<origin rpy="0 0 0" xyz="-0.125 0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="2" type="revolute">
<parent link="hip1"/>
<child link="upper1"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower1">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="3" type="revolute">
<parent link="upper1"/>
<child link="lower1"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe1">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe1" type="fixed">
<parent link="lower1"/>
<child link="toe1"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip2">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="10" type="revolute">
<parent link="body"/>
<child link="hip2"/>
<axis xyz="1 0 0"/>
<origin xyz="0.325 -0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper2">
<visual>
<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="4" type="revolute">
<parent link="hip2"/>
<child link="upper2"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 -0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower2">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="5" type="revolute">
<parent link="upper2"/>
<child link="lower2"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe2">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe2" type="fixed">
<parent link="lower2"/>
<child link="toe2"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Hip motor -->
<link name="hip3">
<visual>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
<material name="purple"/>
</visual>
<collision>
<origin rpy="1.5707963268 0 0" xyz="0.0 0.039 0"/>
<geometry>
<box size="0.195 0.1 0.17"/>
</geometry>
</collision>
<inertial>
<mass value="2.75"/>
<inertia ixx="0.00891458" ixy="0" ixz="0" iyy="0.0100573" iyz="0" izz="0.01533698"/>
</inertial>
</link>
<!-- Abduction joint. Joint names are: 8 9 10 11 -->
<joint name="11" type="revolute">
<parent link="body"/>
<child link="hip3"/>
<axis xyz="1 0 0"/>
<origin xyz="-0.325 -0.1575 0"/>
<limit effort="375" lower="-0.43" upper="0.43" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Upper leg -->
<link name="upper3">
<visual>
<origin rpy="0 0 0" xyz="-0.125 -0.0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.125 0 0"/>
<geometry>
<box size="0.25 0.044 0.06"/>
</geometry>
</collision>
<inertial>
<mass value="0.625"/>
<inertia ixx="0.0003125" ixy="0" ixz="0" iyy="0.0040625" iyz="0" izz="0.0040625"/>
</inertial>
</link>
<!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
<joint name="6" type="revolute">
<parent link="hip3"/>
<child link="upper3"/>
<axis xyz="0 -1 0"/>
<origin xyz="0 -0.068 0"/>
<!-- rpy="0 -0.3 0" -->
<limit effort="87.5" lower="-3.14159265359" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Lower leg -->
<link name="lower3">
<visual>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin rpy="0 1.5707963268 0" xyz="0.14 0 -0.0355"/>
<geometry>
<cylinder length="0.28" radius="0.011"/>
</geometry>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.00131075" ixy="0" ixz="0" iyy="0.00131075" iyz="0" izz="0.0001"/>
</inertial>
</link>
<!-- Knee joint. Joint names are: 1 3 5 7 -->
<joint name="7" type="revolute">
<parent link="upper3"/>
<child link="lower3"/>
<axis xyz="0 1 0"/>
<origin xyz="-0.25 0 0"/>
<!--rpy="0 0.5 0"-->
<limit effort="87.5" lower="0" upper="3.14159265359" velocity="30"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Toe -->
<link name="toe3">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.3"/>
<lateral_friction value="3.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
<material name="darkgray"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.15"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoe3" type="fixed">
<parent link="lower3"/>
<child link="toe3"/>
<origin xyz="0.28 0 -0.0461"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot>

BIN
examples/pybullet/gym/pybullet_data/random_urdfs.zip Normal file
View File

Binary file not shown.

365
examples/pybullet/pybullet.c
View File

@@ -14,7 +14,6 @@
#include "../SharedMemory/physx/PhysXC_API.h" #include "../SharedMemory/physx/PhysXC_API.h"
#endif #endif
#ifdef BT_ENABLE_MUJOCO #ifdef BT_ENABLE_MUJOCO
#include "../SharedMemory/mujoco/MuJoCoPhysicsC_API.h" #include "../SharedMemory/mujoco/MuJoCoPhysicsC_API.h"
#endif #endif
@@ -1233,7 +1232,7 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double restitution = -1; double restitution = -1;
double linearDamping = -1; double linearDamping = -1;
double angularDamping = -1; double angularDamping = -1;
double contactStiffness = -1; double contactStiffness = -1;
double contactDamping = -1; double contactDamping = -1;
double ccdSweptSphereRadius = -1; double ccdSweptSphereRadius = -1;
@@ -1244,11 +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;
@@ -1341,7 +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);
} }
@@ -1514,30 +1513,30 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int minimumSolverIslandSize = -1; int minimumSolverIslandSize = -1;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", static char* kwlist[] = {"fixedTimeStep",
"numSolverIterations", "numSolverIterations",
"useSplitImpulse", "useSplitImpulse",
"splitImpulsePenetrationThreshold", "splitImpulsePenetrationThreshold",
"numSubSteps", "numSubSteps",
"collisionFilterMode", "collisionFilterMode",
"contactBreakingThreshold", "contactBreakingThreshold",
"maxNumCmdPer1ms", "maxNumCmdPer1ms",
"enableFileCaching", "enableFileCaching",
"restitutionVelocityThreshold", "restitutionVelocityThreshold",
"erp", "erp",
"contactERP", "contactERP",
"frictionERP", "frictionERP",
"enableConeFriction", "enableConeFriction",
"deterministicOverlappingPairs", "deterministicOverlappingPairs",
"allowedCcdPenetration", "allowedCcdPenetration",
"jointFeedbackMode", "jointFeedbackMode",
"solverResidualThreshold", "solverResidualThreshold",
"contactSlop", "contactSlop",
"enableSAT", "enableSAT",
"constraintSolverType", "constraintSolverType",
"globalCFM", "globalCFM",
"minimumSolverIslandSize", "minimumSolverIslandSize",
"physicsClientId", NULL}; "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps, if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId)) &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId))
@@ -2222,7 +2221,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
if ((controlMode != CONTROL_MODE_VELOCITY) && if ((controlMode != CONTROL_MODE_VELOCITY) &&
(controlMode != CONTROL_MODE_TORQUE) && (controlMode != CONTROL_MODE_TORQUE) &&
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD)&& (controlMode != CONTROL_MODE_POSITION_VELOCITY_PD) &&
(controlMode != CONTROL_MODE_PD)) (controlMode != CONTROL_MODE_PD))
{ {
PyErr_SetString(SpamError, "Illegal control mode."); PyErr_SetString(SpamError, "Illegal control mode.");
@@ -2469,30 +2468,29 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
// return NULL; // return NULL;
} }
static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* args, PyObject* keywds)
{ {
int bodyUniqueId, jointIndex, controlMode; int bodyUniqueId, jointIndex, controlMode;
double targetPositionArray[4] = { 0, 0, 0, 1 }; double targetPositionArray[4] = {0, 0, 0, 1};
double targetVelocityArray[3] = { 0, 0, 0 }; double targetVelocityArray[3] = {0, 0, 0};
double targetForceArray[3] = { 100000.0, 100000.0, 100000.0 }; double targetForceArray[3] = {100000.0, 100000.0, 100000.0};
int targetPositionSize = 0; int targetPositionSize = 0;
int targetVelocitySize = 0; int targetVelocitySize = 0;
int targetForceSize = 0; int targetForceSize = 0;
PyObject* targetPositionObj = 0; PyObject* targetPositionObj = 0;
PyObject* targetVelocityObj = 0; PyObject* targetVelocityObj = 0;
PyObject* targetForceObj = 0; PyObject* targetForceObj = 0;
double kp = 0.1; double kp = 0.1;
double kd = 1.0; double kd = 1.0;
double maxVelocity = -1; double maxVelocity = -1;
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = { "bodyUniqueId", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "maxVelocity", "physicsClientId", NULL }; static char* kwlist[] = {"bodyUniqueId", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "maxVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|OOOdddi", kwlist, &bodyUniqueId, &jointIndex, &controlMode, if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|OOOdddi", kwlist, &bodyUniqueId, &jointIndex, &controlMode,
&targetPositionObj, &targetVelocityObj, &targetForceObj, &kp, &kd, &maxVelocity, &physicsClientId)) &targetPositionObj, &targetVelocityObj, &targetForceObj, &kp, &kd, &maxVelocity, &physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -2514,7 +2512,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
{ {
targetPositionSize = 0; targetPositionSize = 0;
} }
if (targetPositionSize >4) if (targetPositionSize > 4)
{ {
targetPositionSize = 4; targetPositionSize = 4;
} }
@@ -2539,7 +2537,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
{ {
targetVelocitySize = 0; targetVelocitySize = 0;
} }
if (targetVelocitySize >3) if (targetVelocitySize > 3)
{ {
targetVelocitySize = 3; targetVelocitySize = 3;
} }
@@ -2564,7 +2562,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
{ {
targetForceSize = 0; targetForceSize = 0;
} }
if (targetForceSize >3) if (targetForceSize > 3)
{ {
targetForceSize = 3; targetForceSize = 3;
} }
@@ -2578,7 +2576,6 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
} }
} }
//if (targetPositionSize == 0 && targetVelocitySize == 0) //if (targetPositionSize == 0 && targetVelocitySize == 0)
//{ //{
@@ -2595,11 +2592,11 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
return NULL; return NULL;
} }
if (//(controlMode != CONTROL_MODE_VELOCITY)&& if ( //(controlMode != CONTROL_MODE_VELOCITY)&&
(controlMode != CONTROL_MODE_TORQUE) && (controlMode != CONTROL_MODE_TORQUE) &&
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD)//&& (controlMode != CONTROL_MODE_POSITION_VELOCITY_PD) //&&
//(controlMode != CONTROL_MODE_PD) //(controlMode != CONTROL_MODE_PD)
) )
{ {
PyErr_SetString(SpamError, "Illegal control mode."); PyErr_SetString(SpamError, "Illegal control mode.");
return NULL; return NULL;
@@ -2608,7 +2605,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
commandHandle = b3JointControlCommandInit2(sm, bodyUniqueId, controlMode); commandHandle = b3JointControlCommandInit2(sm, bodyUniqueId, controlMode);
b3GetJointInfo(sm, bodyUniqueId, jointIndex, &info); b3GetJointInfo(sm, bodyUniqueId, jointIndex, &info);
switch (controlMode) switch (controlMode)
{ {
#if 0 #if 0
@@ -2621,59 +2618,57 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
break; break;
} }
#endif #endif
case CONTROL_MODE_TORQUE: case CONTROL_MODE_TORQUE:
{
if (info.m_uSize == targetForceSize)
{ {
b3JointControlSetDesiredForceTorqueMultiDof(commandHandle, info.m_uIndex, if (info.m_uSize == targetForceSize)
targetForceArray, targetForceSize); {
b3JointControlSetDesiredForceTorqueMultiDof(commandHandle, info.m_uIndex,
targetForceArray, targetForceSize);
}
break;
} }
break; case CONTROL_MODE_POSITION_VELOCITY_PD:
} case CONTROL_MODE_PD:
case CONTROL_MODE_POSITION_VELOCITY_PD: {
case CONTROL_MODE_PD: //make sure size == info.m_qSize
{
//make sure size == info.m_qSize if (maxVelocity > 0)
{
if (maxVelocity > 0) b3JointControlSetMaximumVelocity(commandHandle, info.m_uIndex, maxVelocity);
{ }
b3JointControlSetMaximumVelocity(commandHandle, info.m_uIndex, maxVelocity);
}
if (info.m_qSize == targetPositionSize) if (info.m_qSize == targetPositionSize)
{ {
b3JointControlSetDesiredPositionMultiDof(commandHandle, info.m_qIndex, b3JointControlSetDesiredPositionMultiDof(commandHandle, info.m_qIndex,
targetPositionArray, targetPositionSize); targetPositionArray, targetPositionSize);
}
else
{
//printf("Warning: targetPosition array size doesn't match joint position size (got %d, expected %d).",targetPositionSize, info.m_qSize);
}
b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
if (info.m_uSize == targetVelocitySize)
{
b3JointControlSetDesiredVelocityMultiDof(commandHandle, info.m_uIndex,
targetVelocityArray, targetVelocitySize);
}
else
{
//printf("Warning: targetVelocity array size doesn't match joint dimentions (got %d, expected %d).", targetVelocitySize, info.m_uSize);
}
b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
if (info.m_uSize == targetForceSize || targetForceSize == 1)
{
b3JointControlSetDesiredForceTorqueMultiDof(commandHandle, info.m_uIndex,
targetForceArray, targetForceSize);
}
break;
} }
else default:
{ {
//printf("Warning: targetPosition array size doesn't match joint position size (got %d, expected %d).",targetPositionSize, info.m_qSize);
} }
b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
if (info.m_uSize == targetVelocitySize)
{
b3JointControlSetDesiredVelocityMultiDof(commandHandle, info.m_uIndex,
targetVelocityArray, targetVelocitySize);
}
else
{
//printf("Warning: targetVelocity array size doesn't match joint dimentions (got %d, expected %d).", targetVelocitySize, info.m_uSize);
}
b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
if (info.m_uSize == targetForceSize || targetForceSize==1)
{
b3JointControlSetDesiredForceTorqueMultiDof(commandHandle, info.m_uIndex,
targetForceArray, targetForceSize);
}
break;
}
default:
{
}
}; };
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
@@ -2685,7 +2680,6 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
// return NULL; // return NULL;
} }
static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args, PyObject* keywds)
{ {
int bodyUniqueId, jointIndex, controlMode; int bodyUniqueId, jointIndex, controlMode;
@@ -3756,15 +3750,15 @@ static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int bodyUniqueId; int bodyUniqueId;
int jointIndex; int jointIndex;
double targetPositionArray[4] = { 0, 0, 0, 1 }; double targetPositionArray[4] = {0, 0, 0, 1};
double targetVelocityArray[3] = { 0, 0, 0 }; double targetVelocityArray[3] = {0, 0, 0};
int targetPositionSize = 0; int targetPositionSize = 0;
int targetVelocitySize = 0; int targetVelocitySize = 0;
PyObject* targetPositionObj = 0; PyObject* targetPositionObj = 0;
PyObject* targetVelocityObj = 0; PyObject* targetVelocityObj = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = { "bodyUniqueId", "jointIndex", "targetValue", "targetVelocity", "physicsClientId", NULL }; static char* kwlist[] = {"bodyUniqueId", "jointIndex", "targetValue", "targetVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|Oi", kwlist, &bodyUniqueId, &jointIndex, &targetPositionObj, &targetVelocityObj, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|Oi", kwlist, &bodyUniqueId, &jointIndex, &targetPositionObj, &targetVelocityObj, &physicsClientId))
{ {
return NULL; return NULL;
@@ -3787,7 +3781,7 @@ static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args
{ {
targetPositionSize = 0; targetPositionSize = 0;
} }
if (targetPositionSize >4) if (targetPositionSize > 4)
{ {
targetPositionSize = 4; targetPositionSize = 4;
} }
@@ -3800,7 +3794,7 @@ static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args
Py_DECREF(targetPositionSeq); Py_DECREF(targetPositionSeq);
} }
} }
if (targetVelocityObj) if (targetVelocityObj)
{ {
int i = 0; int i = 0;
@@ -3812,7 +3806,7 @@ static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args
{ {
targetVelocitySize = 0; targetVelocitySize = 0;
} }
if (targetVelocitySize >3) if (targetVelocitySize > 3)
{ {
targetVelocitySize = 3; targetVelocitySize = 3;
} }
@@ -4250,7 +4244,6 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
PyObject* pyListVelocity; PyObject* pyListVelocity;
PyObject* pyListJointMotorTorque; PyObject* pyListJointMotorTorque;
struct b3JointSensorState2 sensorState; struct b3JointSensorState2 sensorState;
int bodyUniqueId = -1; int bodyUniqueId = -1;
@@ -4261,7 +4254,7 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = { "bodyUniqueId", "jointIndex", "physicsClientId", NULL }; static char* kwlist[] = {"bodyUniqueId", "jointIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &jointIndex, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &jointIndex, &physicsClientId))
{ {
return NULL; return NULL;
@@ -4317,28 +4310,27 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
for (i = 0; i < sensorState.m_qDofSize; i++) for (i = 0; i < sensorState.m_qDofSize; i++)
{ {
PyTuple_SetItem(pyListPosition, i, PyTuple_SetItem(pyListPosition, i,
PyFloat_FromDouble(sensorState.m_jointPosition[i])); PyFloat_FromDouble(sensorState.m_jointPosition[i]));
} }
for (i = 0; i < sensorState.m_uDofSize; i++) for (i = 0; i < sensorState.m_uDofSize; i++)
{ {
PyTuple_SetItem(pyListVelocity, i, PyTuple_SetItem(pyListVelocity, i,
PyFloat_FromDouble(sensorState.m_jointVelocity[i])); PyFloat_FromDouble(sensorState.m_jointVelocity[i]));
PyTuple_SetItem(pyListJointMotorTorque, i, PyTuple_SetItem(pyListJointMotorTorque, i,
PyFloat_FromDouble(sensorState.m_jointMotorTorqueMultiDof[i])); PyFloat_FromDouble(sensorState.m_jointMotorTorqueMultiDof[i]));
} }
for (j = 0; j < forceTorqueSize; j++) for (j = 0; j < forceTorqueSize; j++)
{ {
PyTuple_SetItem(pyListJointForceTorque, j, PyTuple_SetItem(pyListJointForceTorque, j,
PyFloat_FromDouble(sensorState.m_jointReactionForceTorque[j])); PyFloat_FromDouble(sensorState.m_jointReactionForceTorque[j]));
} }
PyTuple_SetItem(pyListJointState, 2, pyListJointForceTorque); PyTuple_SetItem(pyListJointState, 2, pyListJointForceTorque);
PyTuple_SetItem(pyListJointState, 3, pyListJointMotorTorque); PyTuple_SetItem(pyListJointState, 3, pyListJointMotorTorque);
return pyListJointState; return pyListJointState;
} }
@@ -5265,7 +5257,7 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
int sizeTo = 0; int sizeTo = 0;
int parentObjectUniqueId = -1; int parentObjectUniqueId = -1;
int parentLinkIndex = -1; int parentLinkIndex = -1;
static char* kwlist[] = {"rayFromPositions", "rayToPositions", "numThreads", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL}; static char* kwlist[] = {"rayFromPositions", "rayToPositions", "numThreads", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL};
int physicsClientId = 0; int physicsClientId = 0;
@@ -5354,9 +5346,9 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
} }
} }
if (parentObjectUniqueId>=0) if (parentObjectUniqueId >= 0)
{ {
b3RaycastBatchSetParentObject(commandHandle, parentObjectUniqueId,parentLinkIndex); b3RaycastBatchSetParentObject(commandHandle, parentObjectUniqueId, parentLinkIndex);
} }
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
@@ -6129,7 +6121,7 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
{ {
commandHandle = b3InitUpdateVisualShape2(sm, objectUniqueId, jointIndex, shapeIndex); commandHandle = b3InitUpdateVisualShape2(sm, objectUniqueId, jointIndex, shapeIndex);
if (textureUniqueId>=-1) if (textureUniqueId >= -1)
{ {
b3UpdateVisualShapeTexture(commandHandle, textureUniqueId); b3UpdateVisualShapeTexture(commandHandle, textureUniqueId);
} }
@@ -6438,7 +6430,7 @@ static PyObject* pybullet_setCollisionFilterGroupMask(PyObject* self, PyObject*
PyErr_SetString(SpamError, "Not connected to physics server."); PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL; return NULL;
} }
commandHandle = b3CollisionFilterCommandInit(sm); commandHandle = b3CollisionFilterCommandInit(sm);
b3SetCollisionFilterGroupMask(commandHandle, bodyUniqueIdA, linkIndexA, collisionFilterGroup, collisionFilterMask); b3SetCollisionFilterGroupMask(commandHandle, bodyUniqueIdA, linkIndexA, collisionFilterGroup, collisionFilterMask);
@@ -6805,14 +6797,13 @@ static PyObject* pybullet_enableJointForceTorqueSensor(PyObject* self, PyObject*
return NULL; return NULL;
} }
static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVertices) static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVertices)
{ {
int numVerticesOut=0; int numVerticesOut = 0;
if (verticesObj) if (verticesObj)
{ {
PyObject* seqVerticesObj= PySequence_Fast(verticesObj, "expected a sequence of vertex positions"); PyObject* seqVerticesObj = PySequence_Fast(verticesObj, "expected a sequence of vertex positions");
if (seqVerticesObj) if (seqVerticesObj)
{ {
int numVerticesSrc = PySequence_Size(seqVerticesObj); int numVerticesSrc = PySequence_Size(seqVerticesObj);
@@ -6846,7 +6837,6 @@ static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVe
return numVerticesOut; return numVerticesOut;
} }
static int extractUVs(PyObject* uvsObj, double* uvs, int maxNumVertices) static int extractUVs(PyObject* uvsObj, double* uvs, int maxNumVertices)
{ {
int numUVOut = 0; int numUVOut = 0;
@@ -6887,11 +6877,11 @@ static int extractUVs(PyObject* uvsObj, double* uvs, int maxNumVertices)
} }
static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices) static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices)
{ {
int numIndicesOut=0; int numIndicesOut = 0;
if (indicesObj) if (indicesObj)
{ {
PyObject* seqIndicesObj= PySequence_Fast(indicesObj, "expected a sequence of indices"); PyObject* seqIndicesObj = PySequence_Fast(indicesObj, "expected a sequence of indices");
if (seqIndicesObj) if (seqIndicesObj)
{ {
int numIndicesSrc = PySequence_Size(seqIndicesObj); int numIndicesSrc = PySequence_Size(seqIndicesObj);
@@ -6906,7 +6896,7 @@ static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices)
} }
for (i = 0; i < numIndicesSrc; i++) for (i = 0; i < numIndicesSrc; i++)
{ {
int index = pybullet_internalGetIntFromSequence(seqIndicesObj,i); int index = pybullet_internalGetIntFromSequence(seqIndicesObj, i);
if (indices) if (indices)
{ {
indices[numIndicesOut] = index; indices[numIndicesOut] = index;
@@ -6986,23 +6976,24 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
} }
if (shapeType == GEOM_MESH && verticesObj) if (shapeType == GEOM_MESH && verticesObj)
{ {
int numVertices= extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES); int numVertices = extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES);
int numIndices= extractIndices(indicesObj, 0, B3_MAX_NUM_INDICES); int numIndices = extractIndices(indicesObj, 0, B3_MAX_NUM_INDICES);
double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0; double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0;
int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0; int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0;
numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES); numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
pybullet_internalSetVectord(meshScaleObj, meshScale); pybullet_internalSetVectord(meshScaleObj, meshScale);
if (indicesObj) if (indicesObj)
{ {
numIndices = extractIndices(indicesObj, indices,B3_MAX_NUM_INDICES); numIndices = extractIndices(indicesObj, indices, B3_MAX_NUM_INDICES);
} }
if (numIndices) if (numIndices)
{ {
shapeIndex = b3CreateCollisionShapeAddConcaveMesh(sm, commandHandle, meshScale, vertices, numVertices, indices, numIndices); shapeIndex = b3CreateCollisionShapeAddConcaveMesh(sm, commandHandle, meshScale, vertices, numVertices, indices, numIndices);
} else }
else
{ {
shapeIndex = b3CreateCollisionShapeAddConvexMesh(sm, commandHandle, meshScale, vertices, numVertices); shapeIndex = b3CreateCollisionShapeAddConvexMesh(sm, commandHandle, meshScale, vertices, numVertices);
} }
@@ -7777,12 +7768,11 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
double* batchPositions = malloc(sizeof(double) * 3 * numBatchPositions); double* batchPositions = malloc(sizeof(double) * 3 * numBatchPositions);
for (i = 0; i < numBatchPositions; i++) for (i = 0; i < numBatchPositions; i++)
{ {
pybullet_internalGetVector3FromSequence(seqBatchPositions, i, &batchPositions[3*i]); pybullet_internalGetVector3FromSequence(seqBatchPositions, i, &batchPositions[3 * i]);
} }
b3CreateMultiBodySetBatchPositions(sm, commandHandle, batchPositions, numBatchPositions); b3CreateMultiBodySetBatchPositions(sm, commandHandle, batchPositions, numBatchPositions);
free(batchPositions); free(batchPositions);
} }
for (i = 0; i < numLinkMasses; i++) for (i = 0; i < numLinkMasses; i++)
{ {
@@ -9062,7 +9052,7 @@ static PyObject* pybullet_rotateVector(PyObject* self, PyObject* args, PyObject*
int hasQuat = 0; int hasQuat = 0;
int hasVec = 0; int hasVec = 0;
static char* kwlist[] = { "quaternion", "vector", "physicsClientId", NULL }; static char* kwlist[] = {"quaternion", "vector", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatObj, &vectorObj, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatObj, &vectorObj, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9099,7 +9089,6 @@ static PyObject* pybullet_rotateVector(PyObject* self, PyObject* args, PyObject*
return Py_None; return Py_None;
} }
static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
@@ -9111,7 +9100,7 @@ static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject*
int hasQuatStart = 0; int hasQuatStart = 0;
int hasQuatEnd = 0; int hasQuatEnd = 0;
static char* kwlist[] = { "quaternionStart", "quaternionEnd", "deltaTime", "physicsClientId", NULL }; static char* kwlist[] = {"quaternionStart", "quaternionEnd", "deltaTime", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOd|i", kwlist, &quatStartObj, &quatEndObj, &deltaTime, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOd|i", kwlist, &quatStartObj, &quatEndObj, &deltaTime, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9148,8 +9137,7 @@ static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject*
return Py_None; return Py_None;
} }
static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyObject* keywds)
static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
PyObject* quatEndObj; PyObject* quatEndObj;
@@ -9160,7 +9148,7 @@ static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyO
int hasQuatStart = 0; int hasQuatStart = 0;
int hasQuatEnd = 0; int hasQuatEnd = 0;
static char* kwlist[] = { "quaternionStart", "quaternionEnd", "interpolationFraction", "physicsClientId", NULL }; static char* kwlist[] = {"quaternionStart", "quaternionEnd", "interpolationFraction", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOd|i", kwlist, &quatStartObj, &quatEndObj, &interpolationFraction, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOd|i", kwlist, &quatStartObj, &quatEndObj, &interpolationFraction, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9197,7 +9185,6 @@ static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyO
return Py_None; return Py_None;
} }
static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
int physicsClientId = 0; int physicsClientId = 0;
@@ -9205,7 +9192,7 @@ static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* a
double quat[4]; double quat[4];
int hasQuat = 0; int hasQuat = 0;
static char* kwlist[] = { "quaternion", "physicsClientId", NULL }; static char* kwlist[] = {"quaternion", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "O|i", kwlist, &quatObj, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "O|i", kwlist, &quatObj, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9232,7 +9219,7 @@ static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* a
PyTuple_SetItem(pylist2, 0, axislist); PyTuple_SetItem(pylist2, 0, axislist);
} }
PyTuple_SetItem(pylist2, 1, PyFloat_FromDouble(angle)); PyTuple_SetItem(pylist2, 1, PyFloat_FromDouble(angle));
return pylist2; return pylist2;
} }
} }
@@ -9245,7 +9232,6 @@ static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* a
return Py_None; return Py_None;
} }
static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* axisObj; PyObject* axisObj;
@@ -9254,8 +9240,8 @@ static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* a
int physicsClientId = 0; int physicsClientId = 0;
int hasAxis = 0; int hasAxis = 0;
static char* kwlist[] = { "axis", "angle","physicsClientId", NULL }; static char* kwlist[] = {"axis", "angle", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "Od|i", kwlist, &axisObj, &angle,&physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "Od|i", kwlist, &axisObj, &angle, &physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -9287,7 +9273,6 @@ static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* a
return Py_None; return Py_None;
} }
static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
@@ -9298,7 +9283,7 @@ static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject*
int hasQuatStart = 0; int hasQuatStart = 0;
int hasQuatEnd = 0; int hasQuatEnd = 0;
static char* kwlist[] = { "quaternionStart", "quaternionEnd", "physicsClientId", NULL }; static char* kwlist[] = {"quaternionStart", "quaternionEnd", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatStartObj, &quatEndObj, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatStartObj, &quatEndObj, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9335,7 +9320,6 @@ static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject*
return Py_None; return Py_None;
} }
static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
@@ -9345,8 +9329,8 @@ static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args
int physicsClientId = 0; int physicsClientId = 0;
int hasQuatStart = 0; int hasQuatStart = 0;
int hasQuatEnd = 0; int hasQuatEnd = 0;
static char* kwlist[] = { "quaternionStart", "quaternionEnd", "physicsClientId", NULL }; static char* kwlist[] = {"quaternionStart", "quaternionEnd", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatStartObj, &quatEndObj, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatStartObj, &quatEndObj, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9383,8 +9367,6 @@ static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args
return Py_None; return Py_None;
} }
/// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo /// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo
/// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc /// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc
static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, static PyObject* pybullet_getEulerFromQuaternion(PyObject* self,
@@ -9704,6 +9686,10 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
{ {
PyErr_SetString(SpamError, PyErr_SetString(SpamError,
"calculateInverseKinematics the size of input current positions needs to be equal to the number of degrees of freedom."); "calculateInverseKinematics the size of input current positions needs to be equal to the number of degrees of freedom.");
free(lowerLimits);
free(upperLimits);
free(jointRanges);
free(restPoses);
return NULL; return NULL;
} }
else else
@@ -9795,6 +9781,11 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
free(currentPositions); free(currentPositions);
free(jointDamping); free(jointDamping);
free(lowerLimits);
free(upperLimits);
free(jointRanges);
free(restPoses);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
result = b3GetStatusInverseKinematicsJointPositions(statusHandle, result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
@@ -9854,12 +9845,12 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"bodyUniqueId", "objPositions", static char* kwlist[] = {"bodyUniqueId", "objPositions",
"objVelocities", "objAccelerations", "objVelocities", "objAccelerations",
"flags", "flags",
"physicsClientId", NULL}; "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOOO|ii", kwlist, if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOOO|ii", kwlist,
&bodyUniqueId, &objPositionsQ, &bodyUniqueId, &objPositionsQ,
&objVelocitiesQdot, &objAccelerations, &objVelocitiesQdot, &objAccelerations,
&flags, &flags,
&physicsClientId)) &physicsClientId))
{ {
static char* kwlist2[] = {"bodyIndex", "objPositions", static char* kwlist2[] = {"bodyIndex", "objPositions",
@@ -9885,7 +9876,6 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
int szObVel = PySequence_Size(objVelocitiesQdot); int szObVel = PySequence_Size(objVelocitiesQdot);
int szObAcc = PySequence_Size(objAccelerations); int szObAcc = PySequence_Size(objAccelerations);
if (szObVel == szObAcc) if (szObVel == szObAcc)
{ {
int szInBytesQ = sizeof(double) * szObPos; int szInBytesQ = sizeof(double) * szObPos;
@@ -9895,7 +9885,6 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
double* jointPositionsQ = (double*)malloc(szInBytesQ); double* jointPositionsQ = (double*)malloc(szInBytesQ);
double* jointVelocitiesQdot = (double*)malloc(szInBytesQdot); double* jointVelocitiesQdot = (double*)malloc(szInBytesQdot);
double* jointAccelerations = (double*)malloc(szInBytesQdot); double* jointAccelerations = (double*)malloc(szInBytesQdot);
for (i = 0; i < szObPos; i++) for (i = 0; i < szObPos; i++)
{ {
@@ -9927,13 +9916,13 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
{ {
int bodyUniqueId; int bodyUniqueId;
int dofCount; int dofCount;
b3GetStatusInverseDynamicsJointForces(statusHandle, &bodyUniqueId,&dofCount, 0); b3GetStatusInverseDynamicsJointForces(statusHandle, &bodyUniqueId, &dofCount, 0);
if (dofCount) if (dofCount)
{ {
double* jointForcesOutput = (double*)malloc(sizeof(double) * dofCount); double* jointForcesOutput = (double*)malloc(sizeof(double) * dofCount);
b3GetStatusInverseDynamicsJointForces(statusHandle, 0, 0,jointForcesOutput); b3GetStatusInverseDynamicsJointForces(statusHandle, 0, 0, jointForcesOutput);
{ {
{ {
int i; int i;
@@ -9955,7 +9944,7 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
free(jointPositionsQ); free(jointPositionsQ);
free(jointVelocitiesQdot); free(jointVelocitiesQdot);
free(jointAccelerations); free(jointAccelerations);
if (pylist) return pylist; if (pylist) return pylist;
} }
else else
@@ -10186,11 +10175,11 @@ static PyObject* pybullet_calculateMassMatrix(PyObject* self, PyObject* args, Py
{ {
int szObPos = PySequence_Size(objPositions); int szObPos = PySequence_Size(objPositions);
///int dofCountQ = b3GetNumJoints(sm, bodyUniqueId); ///int dofCountQ = b3GetNumJoints(sm, bodyUniqueId);
if (szObPos>=0)//(szObPos == dofCountQ)) if (szObPos >= 0) //(szObPos == dofCountQ))
{ {
int byteSizeJoints = sizeof(double) * szObPos; int byteSizeJoints = sizeof(double) * szObPos;
PyObject* pyResultList=NULL; PyObject* pyResultList = NULL;
double* jointPositions = (double*)malloc(byteSizeJoints); double* jointPositions = (double*)malloc(byteSizeJoints);
double* massMatrix = NULL; double* massMatrix = NULL;
int i; int i;
@@ -10215,7 +10204,6 @@ static PyObject* pybullet_calculateMassMatrix(PyObject* self, PyObject* args, Py
if (dofCount) if (dofCount)
{ {
int byteSizeDofCount = sizeof(double) * dofCount; int byteSizeDofCount = sizeof(double) * dofCount;
massMatrix = (double*)malloc(dofCount * byteSizeDofCount); massMatrix = (double*)malloc(dofCount * byteSizeDofCount);
b3GetStatusMassMatrix(sm, statusHandle, NULL, massMatrix); b3GetStatusMassMatrix(sm, statusHandle, NULL, massMatrix);
@@ -10470,8 +10458,8 @@ static PyMethodDef SpamMethods[] = {
{"getJointState", (PyCFunction)pybullet_getJointState, METH_VARARGS | METH_KEYWORDS, {"getJointState", (PyCFunction)pybullet_getJointState, METH_VARARGS | METH_KEYWORDS,
"Get the state (position, velocity etc) for a joint on a body."}, "Get the state (position, velocity etc) for a joint on a body."},
{ "getJointStateMultiDof", (PyCFunction)pybullet_getJointStateMultiDof, METH_VARARGS | METH_KEYWORDS, {"getJointStateMultiDof", (PyCFunction)pybullet_getJointStateMultiDof, METH_VARARGS | METH_KEYWORDS,
"Get the state (position, velocity etc) for a joint on a body. (supports planar and spherical joints)" }, "Get the state (position, velocity etc) for a joint on a body. (supports planar and spherical joints)"},
{"getJointStates", (PyCFunction)pybullet_getJointStates, METH_VARARGS | METH_KEYWORDS, {"getJointStates", (PyCFunction)pybullet_getJointStates, METH_VARARGS | METH_KEYWORDS,
"Get the state (position, velocity etc) for multiple joints on a body."}, "Get the state (position, velocity etc) for multiple joints on a body."},
@@ -10492,10 +10480,10 @@ static PyMethodDef SpamMethods[] = {
"Reset the state (position, velocity etc) for a joint on a body " "Reset the state (position, velocity etc) for a joint on a body "
"instantaneously, not through physics simulation."}, "instantaneously, not through physics simulation."},
{ "resetJointStateMultiDof", (PyCFunction)pybullet_resetJointStateMultiDof, METH_VARARGS | METH_KEYWORDS, {"resetJointStateMultiDof", (PyCFunction)pybullet_resetJointStateMultiDof, METH_VARARGS | METH_KEYWORDS,
"resetJointStateMultiDof(objectUniqueId, jointIndex, targetValue, targetVelocity=0, physicsClientId=0)\n" "resetJointStateMultiDof(objectUniqueId, jointIndex, targetValue, targetVelocity=0, physicsClientId=0)\n"
"Reset the state (position, velocity etc) for a joint on a body " "Reset the state (position, velocity etc) for a joint on a body "
"instantaneously, not through physics simulation." }, "instantaneously, not through physics simulation."},
{"changeDynamics", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS, {"changeDynamics", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"change dynamics information such as mass, lateral friction coefficient."}, "change dynamics information such as mass, lateral friction coefficient."},
@@ -10512,10 +10500,10 @@ static PyMethodDef SpamMethods[] = {
"Set a single joint motor control mode and desired target value. There is " "Set a single joint motor control mode and desired target value. There is "
"no immediate state change, stepSimulation will process the motors."}, "no immediate state change, stepSimulation will process the motors."},
{ "setJointMotorControlMultiDof", (PyCFunction)pybullet_setJointMotorControlMultiDof, METH_VARARGS | METH_KEYWORDS, {"setJointMotorControlMultiDof", (PyCFunction)pybullet_setJointMotorControlMultiDof, METH_VARARGS | METH_KEYWORDS,
"Set a single joint motor control mode and desired target value. There is " "Set a single joint motor control mode and desired target value. There is "
"no immediate state change, stepSimulation will process the motors." "no immediate state change, stepSimulation will process the motors."
"This method sets multi-degree-of-freedom motor such as the spherical joint motor." }, "This method sets multi-degree-of-freedom motor such as the spherical joint motor."},
{"setJointMotorControlArray", (PyCFunction)pybullet_setJointMotorControlArray, METH_VARARGS | METH_KEYWORDS, {"setJointMotorControlArray", (PyCFunction)pybullet_setJointMotorControlArray, METH_VARARGS | METH_KEYWORDS,
"Set an array of motors control mode and desired target value. There is " "Set an array of motors control mode and desired target value. There is "
@@ -10650,30 +10638,26 @@ static PyMethodDef SpamMethods[] = {
{"getMatrixFromQuaternion", (PyCFunction)pybullet_getMatrixFromQuaternion, METH_VARARGS | METH_KEYWORDS, {"getMatrixFromQuaternion", (PyCFunction)pybullet_getMatrixFromQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the 3x3 matrix from a quaternion, as a list of 9 values (row-major)"}, "Compute the 3x3 matrix from a quaternion, as a list of 9 values (row-major)"},
{ "getQuaternionSlerp", (PyCFunction)pybullet_getQuaternionSlerp, METH_VARARGS | METH_KEYWORDS, {"getQuaternionSlerp", (PyCFunction)pybullet_getQuaternionSlerp, METH_VARARGS | METH_KEYWORDS,
"Compute the spherical interpolation given a start and end quaternion and an interpolation value in range [0..1]" }, "Compute the spherical interpolation given a start and end quaternion and an interpolation value in range [0..1]"},
{ "getQuaternionFromAxisAngle", (PyCFunction)pybullet_getQuaternionFromAxisAngle, METH_VARARGS | METH_KEYWORDS, {"getQuaternionFromAxisAngle", (PyCFunction)pybullet_getQuaternionFromAxisAngle, METH_VARARGS | METH_KEYWORDS,
"Compute the quaternion from axis and angle representation." }, "Compute the quaternion from axis and angle representation."},
{ "getAxisAngleFromQuaternion", (PyCFunction)pybullet_getAxisAngleFromQuaternion, METH_VARARGS | METH_KEYWORDS, {"getAxisAngleFromQuaternion", (PyCFunction)pybullet_getAxisAngleFromQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the quaternion from axis and angle representation." }, "Compute the quaternion from axis and angle representation."},
{ "getDifferenceQuaternion", (PyCFunction)pybullet_getDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS, {"getDifferenceQuaternion", (PyCFunction)pybullet_getDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the quaternion difference from two quaternions." }, "Compute the quaternion difference from two quaternions."},
{ "getAxisDifferenceQuaternion", (PyCFunction)pybullet_getAxisDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS, {"getAxisDifferenceQuaternion", (PyCFunction)pybullet_getAxisDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the velocity axis difference from two quaternions." }, "Compute the velocity axis difference from two quaternions."},
{"calculateVelocityQuaternion", (PyCFunction)pybullet_calculateVelocityQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the angular velocity given start and end quaternion and delta time."},
{ "calculateVelocityQuaternion", (PyCFunction)pybullet_calculateVelocityQuaternion, METH_VARARGS | METH_KEYWORDS, {"rotateVector", (PyCFunction)pybullet_rotateVector, METH_VARARGS | METH_KEYWORDS,
"Compute the angular velocity given start and end quaternion and delta time." }, "Rotate a vector using a quaternion."},
{ "rotateVector", (PyCFunction)pybullet_rotateVector, METH_VARARGS | METH_KEYWORDS,
"Rotate a vector using a quaternion." },
{"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS | METH_KEYWORDS, {"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS | METH_KEYWORDS,
"Given an object id, joint positions, joint velocities and joint " "Given an object id, joint positions, joint velocities and joint "
@@ -10971,8 +10955,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_COLORS_FROM_MTL", URDF_USE_MATERIAL_COLORS_FROM_MTL); PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_COLORS_FROM_MTL", URDF_USE_MATERIAL_COLORS_FROM_MTL);
PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL", URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL); PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL", URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL);
PyModule_AddIntConstant(m, "URDF_MAINTAIN_LINK_ORDER", URDF_MAINTAIN_LINK_ORDER); PyModule_AddIntConstant(m, "URDF_MAINTAIN_LINK_ORDER", URDF_MAINTAIN_LINK_ORDER);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_ENABLE_SLEEPING", eActivationStateEnableSleeping); PyModule_AddIntConstant(m, "ACTIVATION_STATE_ENABLE_SLEEPING", eActivationStateEnableSleeping);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_DISABLE_SLEEPING", eActivationStateDisableSleeping); PyModule_AddIntConstant(m, "ACTIVATION_STATE_DISABLE_SLEEPING", eActivationStateDisableSleeping);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_WAKE_UP", eActivationStateWakeUp); PyModule_AddIntConstant(m, "ACTIVATION_STATE_WAKE_UP", eActivationStateWakeUp);
@@ -11039,9 +11022,9 @@ initpybullet(void)
PyModule_AddIntConstant(m, "AddFileIOAction", eAddFileIOAction); PyModule_AddIntConstant(m, "AddFileIOAction", eAddFileIOAction);
PyModule_AddIntConstant(m, "RemoveFileIOAction", eRemoveFileIOAction); PyModule_AddIntConstant(m, "RemoveFileIOAction", eRemoveFileIOAction);
PyModule_AddIntConstant(m, "PosixFileIO", ePosixFileIO ); PyModule_AddIntConstant(m, "PosixFileIO", ePosixFileIO);
PyModule_AddIntConstant(m, "ZipFileIO", eZipFileIO ); PyModule_AddIntConstant(m, "ZipFileIO", eZipFileIO);
PyModule_AddIntConstant(m, "CNSFileIO", eCNSFileIO ); PyModule_AddIntConstant(m, "CNSFileIO", eCNSFileIO);
SpamError = PyErr_NewException("pybullet.error", NULL, NULL); SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
Py_INCREF(SpamError); Py_INCREF(SpamError);