From 5701b5b152dea842b42e99f6a59f2323e1dc3521 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sat, 4 Nov 2017 12:51:13 -0700 Subject: [PATCH] expose COV_ENABLE_Y_AXIS_UP to pybullet increase MAX_SDF_BODIES from 512 to 1024 (botlab needs it) --- examples/SharedMemory/SharedMemoryCommands.h | 1 - examples/SharedMemory/SharedMemoryPublic.h | 2 ++ examples/pybullet/pybullet.c | 11 +++++++---- 3 files changed, 9 insertions(+), 5 deletions(-) diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 33aac5e47..388a472d7 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -32,7 +32,6 @@ #define MAX_SDF_FILENAME_LENGTH 1024 #define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH #define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM -#define MAX_SDF_BODIES 512 struct TmpFloat3 { diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 03f3d79d8..a1f59ae45 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -355,6 +355,8 @@ enum b3VREventType #define MAX_KEYBOARD_EVENTS 256 #define MAX_MOUSE_EVENTS 256 +#define MAX_SDF_BODIES 1024 + enum b3VRButtonInfo { diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 2ea7e23c1..0825bff8b 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1,5 +1,4 @@ - #include "../SharedMemory/PhysicsClientC_API.h" #include "../SharedMemory/PhysicsDirectC_API.h" #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h" @@ -571,7 +570,6 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args, PyObject* ke return NULL; } -#define MAX_SDF_BODIES 512 static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args, PyObject* keywds) { const char* bulletFileName = ""; @@ -701,7 +699,9 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES); if (numBodies > MAX_SDF_BODIES) { - PyErr_SetString(SpamError, "SDF exceeds body capacity"); + char str[1024]; + sprintf(str,"SDF exceeds body capacity: %d > %d", numBodies, MAX_SDF_BODIES); + PyErr_SetString(SpamError, str); return NULL; } @@ -1197,7 +1197,9 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES); if (numBodies > MAX_SDF_BODIES) { - PyErr_SetString(SpamError, "SDF exceeds body capacity"); + char str[1024]; + sprintf(str,"SDF exceeds body capacity: %d > %d", numBodies, MAX_SDF_BODIES); + PyErr_SetString(SpamError, str); return NULL; } @@ -8191,6 +8193,7 @@ initpybullet(void) PyModule_AddIntConstant(m, "COV_ENABLE_VR_TELEPORTING", COV_ENABLE_VR_TELEPORTING); PyModule_AddIntConstant(m, "COV_ENABLE_RENDERING", COV_ENABLE_RENDERING); PyModule_AddIntConstant(m, "COV_ENABLE_TINY_RENDERER", COV_ENABLE_TINY_RENDERER); + PyModule_AddIntConstant(m, "COV_ENABLE_Y_AXIS_UP", COV_ENABLE_Y_AXIS_UP); PyModule_AddIntConstant(m, "COV_ENABLE_VR_RENDER_CONTROLLERS", COV_ENABLE_VR_RENDER_CONTROLLERS); PyModule_AddIntConstant(m, "COV_ENABLE_KEYBOARD_SHORTCUTS", COV_ENABLE_KEYBOARD_SHORTCUTS);