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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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12
examples/pybullet/pybullet.c
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@@ -1243,12 +1243,13 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double jointDamping = -1;
PyObject* localInertiaDiagonalObj = 0;
PyObject* anisotropicFrictionObj = 0;
double maxJointVelocity = -1;
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", "jointDamping", "anisotropicFriction", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "maxJointVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOdi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &maxJointVelocity, &physicsClientId))
{
return NULL;
}
@@ -1336,6 +1337,11 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetContactProcessingThreshold(command, bodyUniqueId, linkIndex, contactProcessingThreshold);
}
if (maxJointVelocity >= 0)
{
b3ChangeDynamicsInfoSetMaxJointVelocity(command, bodyUniqueId, maxJointVelocity);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}