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expose b3LoadMJCFCommandSetFlags / pybullet.pybullet_loadMJCF(fileName,flags=pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)

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This commit is contained in:
Erwin Coumans
2017-05-10 15:01:25 -07:00
parent d54eab16e1
commit 53a82819a0
10 changed files with 89 additions and 16 deletions
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16
examples/pybullet/pybullet.c
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@@ -563,8 +563,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
int bodyIndicesOut[MAX_SDF_BODIES];
PyObject* pylist = 0;
int physicsClientId = 0;
static char* kwlist[] = {"mjcfFileName", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &mjcfFileName, &physicsClientId))
int flags = -1;
static char* kwlist[] = {"mjcfFileName", "flags", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &mjcfFileName, &flags, &physicsClientId))
{
return NULL;
}
@@ -576,6 +578,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
}
command = b3LoadMJCFCommandInit(sm, mjcfFileName);
if (flags>=0)
{
b3LoadMJCFCommandSetFlags(command,flags);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_MJCF_LOADING_COMPLETED)
@@ -3206,8 +3212,8 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
// b3SharedMemoryStatusHandle statusHandle;
// int statusType;
char* eventName = 0;
int duractionInMicroSeconds=-1;
@@ -6208,6 +6214,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);
PyModule_AddIntConstant(m, "MAX_RAY_INTERSECTION_BATCH_SIZE", MAX_RAY_INTERSECTION_BATCH_SIZE);