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PyBullet.changeDynamics: expose jointDamping

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PyBullet: Implement a few more APIs of PhysX backend, resetJointState and setJointMotorControl2
allow useMaximalCoordinate=True for PhysX loadURDF (only for single rigid bodies, articulations require reduced coordinates at the moment)
This commit is contained in:
erwincoumans
2019-02-04 21:06:43 -08:00
parent 2eace2f715
commit 42369aa47d
10 changed files with 1019 additions and 253 deletions
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11
examples/pybullet/pybullet.c
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@@ -1233,20 +1233,21 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double restitution = -1;
double linearDamping = -1;
double angularDamping = -1;
double contactStiffness = -1;
double contactDamping = -1;
double ccdSweptSphereRadius = -1;
int frictionAnchor = -1;
double contactProcessingThreshold = -1;
int activationState = -1;
double jointDamping = -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", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddii", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &physicsClientId))
{
return NULL;
}
@@ -1300,6 +1301,10 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
b3ChangeDynamicsInfoSetAngularDamping(command, bodyUniqueId, angularDamping);
}
if (jointDamping >= 0)
{
b3ChangeDynamicsInfoSetJointDamping(command, bodyUniqueId, linkIndex, jointDamping);
}
if (restitution >= 0)
{
b3ChangeDynamicsInfoSetRestitution(command, bodyUniqueId, linkIndex, restitution);