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also add baseInertialFramePositionObj and baseInertialFrameOrientationObj to pybullet.createMultiBody

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updated createMultiBodyLinks.py example.
This commit is contained in:
Erwin Coumans
2017-06-19 17:13:20 -07:00
parent 7441515c0e
commit 61f27a5c72
4 changed files with 31 additions and 31 deletions
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22
examples/pybullet/pybullet.c
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@@ -5084,7 +5084,9 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
int useMaximalCoordinates = 0;
PyObject* basePosObj=0;
PyObject* baseOrnObj=0;
PyObject* baseInertialFramePositionObj=0;
PyObject* baseInertialFrameOrientationObj=0;
PyObject* linkMassesObj=0;
PyObject* linkCollisionShapeIndicesObj=0;
PyObject* linkVisualShapeIndicesObj=0;
@@ -5096,14 +5098,13 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
PyObject* linkInertialFramePositionObj=0;
PyObject* linkInertialFrameOrientationObj=0;
static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation",
static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation", "baseInertialFramePosition", "baseInertialFrameOrientation",
"linkMasses","linkCollisionShapeIndices", "linkVisualShapeIndices",
"linkPositions", "linkOrientations","linkInertialFramePosition","linkInertialFrameOrientation", "linkParentIndices", "linkJointTypes","linkJointAxis",
"useMaximalCoordinates","physicsClientId",
"linkPositions", "linkOrientations","linkInertialFramePositions","linkInertialFrameOrientations", "linkParentIndices", "linkJointTypes","linkJointAxis",
"useMaximalCoordinates","physicsClientId", NULL};
NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
&basePosObj, &baseOrnObj,
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
&basePosObj, &baseOrnObj,&baseInertialFramePositionObj, &baseInertialFrameOrientationObj,
&linkMassesObj, &linkCollisionShapeIndicesObj, &linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj,
&linkInertialFramePositionObj, &linkInertialFrameOrientationObj,
&linkParentIndicesObj, &linkJointTypesObj,&linkJointAxisObj,
@@ -5159,10 +5160,15 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
b3SharedMemoryCommandHandle commandHandle = b3CreateMultiBodyCommandInit(sm);
double basePosition[3]={0,0,0};
double baseOrientation[4]={0,0,0,1};
double baseInertialFramePosition[3] = {0,0,0};
double baseInertialFrameOrientation[4]={0,0,0,1};
int baseIndex;
pybullet_internalSetVectord(basePosObj,basePosition);
pybullet_internalSetVector4d(baseOrnObj,baseOrientation);
baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
pybullet_internalSetVectord(baseInertialFramePositionObj,baseInertialFramePosition);
pybullet_internalSetVector4d(baseInertialFrameOrientationObj,baseInertialFrameOrientation);
baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex, basePosition, baseOrientation, baseInertialFramePosition, baseInertialFrameOrientation );
for (i=0;i<numLinkMasses;i++)
{