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expose maxJointVelocity through PyBullet.changeDynamics, this Fixes Issue #1890

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bump up PyBullet to version 2.4.8
This commit is contained in:
erwincoumans
2019-03-09 09:23:16 -08:00
parent 32e93d9f91
commit 4ea907aacf
6 changed files with 34 additions and 6 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2928,6 +2928,19 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemo
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetMaxJointVelocity(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double maxJointVelocity)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = -1;
command->m_changeDynamicsInfoArgs.m_maxJointVelocity = maxJointVelocity;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY;
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int activationState)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -164,7 +164,8 @@ extern "C"
B3_SHARED_API int b3ChangeDynamicsInfoSetCcdSweptSphereRadius(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double ccdSweptSphereRadius);
B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double contactProcessingThreshold);
B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int activationState);
B3_SHARED_API int b3ChangeDynamicsInfoSetMaxJointVelocity(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double maxJointVelocity);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand2(b3SharedMemoryCommandHandle commandHandle, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info);

8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7804,7 +7804,11 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
mb->getBaseCollider()->setAnisotropicFriction(anisotropicFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY)
{
mb->setMaxCoordinateVelocity(clientCmd.m_changeDynamicsInfoArgs.m_maxJointVelocity);
}
}
else
{
@@ -7989,6 +7993,8 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
rb->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS)
{
rb->setCcdSweptSphereRadius(clientCmd.m_changeDynamicsInfoArgs.m_ccdSweptSphereRadius);

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -165,6 +165,7 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE = 8192,
CHANGE_DYNAMICS_INFO_SET_JOINT_DAMPING = 16384,
CHANGE_DYNAMICS_INFO_SET_ANISOTROPIC_FRICTION = 32768,
CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY = 1<<16,
};
struct ChangeDynamicsInfoArgs
@@ -188,6 +189,7 @@ struct ChangeDynamicsInfoArgs
int m_activationState;
double m_jointDamping;
double m_anisotropicFriction[3];
double m_maxJointVelocity;
};
struct GetDynamicsInfoArgs