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minor fixes, bump up pybullet to 2.5.5

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This commit is contained in:
Erwin Coumans
2019-08-14 21:30:10 -07:00
parent f09cefabe8
commit 648844e898
3 changed files with 26 additions and 22 deletions
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44
examples/pybullet/pybullet.c
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@@ -8054,41 +8054,45 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
}
if (shapeType == GEOM_HEIGHTFIELD && fileName==0 && heightfieldDataObj && numHeightfieldColumns>0 && numHeightfieldRows > 0)
{
PyObject* seqPoints=0;
int numHeightfieldPoints;
if (meshScaleObj)
{
pybullet_internalSetVectord(meshScaleObj, meshScale);
}
PyObject* seqPoints = PySequence_Fast(heightfieldDataObj, "expected a sequence");
int numHeightfieldPoints = PySequence_Size(heightfieldDataObj);
seqPoints = PySequence_Fast(heightfieldDataObj, "expected a sequence");
numHeightfieldPoints = PySequence_Size(heightfieldDataObj);
if (numHeightfieldPoints != numHeightfieldColumns*numHeightfieldRows)
{
PyErr_SetString(SpamError, "Size of heightfieldData doesn't match numHeightfieldColumns*numHeightfieldRows");
return NULL;
}
PyObject* item;
int i;
float* pointBuffer = (float*)malloc(numHeightfieldPoints*sizeof(float));
if (PyList_Check(seqPoints))
{
for (i = 0; i < numHeightfieldPoints; i++)
PyObject* item;
int i;
float* pointBuffer = (float*)malloc(numHeightfieldPoints*sizeof(float));
if (PyList_Check(seqPoints))
{
item = PyList_GET_ITEM(seqPoints, i);
pointBuffer[i] = (float)PyFloat_AsDouble(item);
for (i = 0; i < numHeightfieldPoints; i++)
{
item = PyList_GET_ITEM(seqPoints, i);
pointBuffer[i] = (float)PyFloat_AsDouble(item);
}
}
}
else
{
for (i = 0; i < numHeightfieldPoints; i++)
else
{
item = PyTuple_GET_ITEM(seqPoints, i);
pointBuffer[i] = (float)PyFloat_AsDouble(item);
for (i = 0; i < numHeightfieldPoints; i++)
{
item = PyTuple_GET_ITEM(seqPoints, i);
pointBuffer[i] = (float)PyFloat_AsDouble(item);
}
}
}
shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, commandHandle, meshScale, heightfieldTextureScaling, pointBuffer, numHeightfieldRows, numHeightfieldColumns, replaceHeightfieldIndex);
shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, commandHandle, meshScale, heightfieldTextureScaling, pointBuffer, numHeightfieldRows, numHeightfieldColumns, replaceHeightfieldIndex);
free(pointBuffer);
if (seqPoints)
Py_DECREF(seqPoints);
free(pointBuffer);
if (seqPoints)
Py_DECREF(seqPoints);
}
}
if (shapeType == GEOM_MESH && fileName)
{

2
setup.py
View File

@@ -485,7 +485,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
setup(
name='pybullet',
version='2.5.4',
version='2.5.5',
description=
'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description=

2
src/BulletSoftBody/btCGProjection.h
View File

@@ -33,7 +33,7 @@ struct DeformableContactConstraint
append(rcontact);
}
DeformableContactConstraint(const btVector3 dir)
DeformableContactConstraint(const btVector3& dir)
{
m_contact.push_back(NULL);
m_direction.push_back(dir);