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expose API to change the local inertia diagonal, pybullet.ChangeDynamics(objectUid, linkIndex, localInertiaDiagonal=[xx,yy,zz])

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erwincoumans
2017-12-20 16:56:31 -08:00
parent eb35cba740
commit 41f9bb89e5
6 changed files with 64 additions and 7 deletions
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11
examples/pybullet/pybullet.c
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@@ -737,12 +737,13 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double contactStiffness = -1;
double contactDamping = -1;
int frictionAnchor = -1;
PyObject* localInertiaDiagonalObj=0;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddii", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &physicsClientId))
{
return NULL;
}
@@ -762,6 +763,12 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
}
if (localInertiaDiagonalObj)
{
double localInertiaDiagonal[3];
pybullet_internalSetVectord(localInertiaDiagonalObj, localInertiaDiagonal);
b3ChangeDynamicsInfoSetLocalInertiaDiagonal(command, bodyUniqueId, linkIndex, localInertiaDiagonal);
}
if (lateralFriction >= 0)
{
b3ChangeDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);