Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

enable btGearConstraint, expose 'changeDynamics' for gearRatio, only works for maximalCoordinates rigid bodies.

Browse Source 
See examples\pybullet\examples\mimicJointConstraint.py
This commit is contained in:
Erwin Coumans
2017-06-07 13:44:34 -07:00
parent d08f3e5f91
commit 60e3887456
7 changed files with 94 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
examples/pybullet/examples/mimicJointConstraint.py Normal file
View File

@@ -0,0 +1,16 @@
#mimic joint currently only works for 'maximal coordinate' rigid bodies
#one way to use it would be to attach maximal coordinate rigid bodies to multibody links using
#fixed constraints
import pybullet as p
import time
p.connect(p.GUI)
wheelA = p.loadURDF("wheel.urdf",[0,0,0],useMaximalCoordinates=1)
wheelB = p.loadURDF("wheel.urdf",[0,0,1],useMaximalCoordinates=1)
c = p.createConstraint(wheelA,-1,wheelB,-1,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-0.1)
p.setRealTimeSimulation(1)
while(1):
time.sleep(0.01)
p.removeConstraint(c)

12
examples/pybullet/pybullet.c
View File

@@ -4608,7 +4608,7 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject* keywds)
{
static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "physicsClientId", NULL};
static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "physicsClientId", NULL};
int userConstraintUniqueId = -1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
@@ -4620,8 +4620,8 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
double jointChildPivot[3];
double jointChildFrameOrn[4];
double maxForce = -1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOdi", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &physicsClientId))
double gearRatio = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddi", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &physicsClientId))
{
return NULL;
}
@@ -4647,7 +4647,10 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
{
b3InitChangeUserConstraintSetMaxForce(commandHandle, maxForce);
}
if (gearRatio!=0)
{
b3InitChangeUserConstraintSetGearRatio(commandHandle,gearRatio);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
Py_INCREF(Py_None);
@@ -6769,6 +6772,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "JOINT_PLANAR", ePlanarType); // user read
PyModule_AddIntConstant(m, "JOINT_FIXED", eFixedType); // user read
PyModule_AddIntConstant(m, "JOINT_POINT2POINT", ePoint2PointType); // user read
PyModule_AddIntConstant(m, "JOINT_GEAR", eGearType); // user read
PyModule_AddIntConstant(m, "SENSOR_FORCE_TORQUE", eSensorForceTorqueType); // user read