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

add set starting position and orientation to softbody

Browse Source
This commit is contained in:
Chuyuan Fu
2019-04-30 17:41:46 -07:00
parent 55f9f1eb89
commit 3fb0a7c19b
8 changed files with 93 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
examples/pybullet/pybullet.c
View File

@@ -1942,7 +1942,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
int physicsClientId = 0;
int flags = 0;
static char* kwlist[] = {"fileName", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
int bodyUniqueId = -1;
const char* fileName = "";
@@ -1952,10 +1952,36 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
b3PhysicsClientHandle sm = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|dddi", kwlist, &fileName, &scale, &mass, &collisionMargin, &physicsClientId))
double startPos[3] = {0.0, 0.0, 0.0};
double startOrn[4] = {0.0, 0.0, 0.0, 1.0};
PyObject* basePosObj = 0;
PyObject* baseOrnObj = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddi", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId))
{
return NULL;
}
else
{
if (basePosObj)
{
if (!pybullet_internalSetVectord(basePosObj, startPos))
{
PyErr_SetString(SpamError, "Cannot convert basePosition.");
return NULL;
}
}
if (baseOrnObj)
{
if (!pybullet_internalSetVector4d(baseOrnObj, startOrn))
{
PyErr_SetString(SpamError, "Cannot convert baseOrientation.");
return NULL;
}
}
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)