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PyBullet: avoid calling syncBodies for each DOF in pdControl.

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Allow PD_CONTROL in setJointMotorControlArray.
This commit is contained in:
erwincoumans
2018-11-07 09:29:19 -08:00
parent d414224d96
commit 49b098854e
3 changed files with 16 additions and 9 deletions
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14
examples/pybullet/pybullet.c
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@@ -2039,7 +2039,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
(controlMode != CONTROL_MODE_TORQUE) &&
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD))
{
PyErr_SetString(SpamError, "Illegral control mode.");
PyErr_SetString(SpamError, "Illegal control mode.");
return NULL;
}
@@ -2140,9 +2140,10 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
if ((controlMode != CONTROL_MODE_VELOCITY) &&
(controlMode != CONTROL_MODE_TORQUE) &&
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD))
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD)&&
(controlMode != CONTROL_MODE_PD))
{
PyErr_SetString(SpamError, "Illegral control mode.");
PyErr_SetString(SpamError, "Illegal control mode.");
return NULL;
}
@@ -2340,7 +2341,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
break;
}
case CONTROL_MODE_POSITION_VELOCITY_PD:
default:
{
b3JointControlSetDesiredPosition(commandHandle, info.m_qIndex,
targetPosition);
@@ -2351,9 +2352,6 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
b3JointControlSetMaximumForce(commandHandle, info.m_uIndex, force);
break;
}
default:
{
}
};
}
@@ -2440,7 +2438,7 @@ static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args,
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD) &&
(controlMode != CONTROL_MODE_PD))
{
PyErr_SetString(SpamError, "Illegral control mode.");
PyErr_SetString(SpamError, "Illegal control mode.");
return NULL;
}