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allow auxilary link to be used for gear btMultiBodyGearConstraint.

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This commit is contained in:
Erwin Coumans
2017-06-23 20:24:04 -07:00
parent 8e9f5ef3f3
commit 65e22ba3e9
11 changed files with 74 additions and 28 deletions
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14
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1949,6 +1949,20 @@ int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHa
return 0;
}
int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_CONSTRAINT);
b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
command->m_updateFlags |=USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK;
command->m_userConstraintArguments.m_gearAuxLink = gearAuxLink;
return 0;
}
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -107,7 +107,7 @@ int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHan
int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio);
int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink);
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6450,6 +6450,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
userConstraintPtr->m_mbConstraint->setGearRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
{
userConstraintPtr->m_mbConstraint->setGearAuxLink(clientCmd.m_userConstraintArguments.m_gearAuxLink);
}
}
if (userConstraintPtr->m_rbConstraint)

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -645,6 +645,8 @@ enum EnumUserConstraintFlags
USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
USER_CONSTRAINT_REQUEST_INFO=64,
USER_CONSTRAINT_CHANGE_GEAR_RATIO=128,
USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK=256,
};
enum EnumBodyChangeFlags

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -235,6 +235,7 @@ struct b3UserConstraint
double m_maxAppliedForce;
int m_userConstraintUniqueId;
double m_gearRatio;
int m_gearAuxLink;
};

16
examples/pybullet/examples/racecar_differential.py
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@@ -12,10 +12,10 @@ useRealTimeSim = 1
#for video recording (works best on Mac and Linux, not well on Windows)
#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
p.setRealTimeSimulation(useRealTimeSim) # either this
#p.loadURDF("plane.urdf")
p.loadSDF("stadium.sdf")
p.loadURDF("plane.urdf")
#p.loadSDF("stadium.sdf")
car = p.loadURDF("racecar/racecar_differential.urdf")#, [0,0,2],useFixedBase=True)
car = p.loadURDF("racecar/racecar_differential.urdf") #, [0,0,2],useFixedBase=True)
for i in range (p.getNumJoints(car)):
print (p.getJointInfo(car,i))
for wheel in range(p.getNumJoints(car)):
@@ -26,7 +26,6 @@ wheels = [8,15]
print("----------------")
#p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=1, maxForce=10000)
@@ -39,12 +38,17 @@ p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=1, maxForce=10000)
c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
c = p.createConstraint(car,1,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
c = p.createConstraint(car,3,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
steering = [0,2]

9
examples/pybullet/pybullet.c
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@@ -4804,11 +4804,12 @@ 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", "gearRatio", "physicsClientId", NULL};
static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "gearAuxLink", "physicsClientId", NULL};
int userConstraintUniqueId = -1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int gearAuxLink = -1;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
PyObject* jointChildPivotObj = 0;
@@ -4817,7 +4818,7 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
double jointChildFrameOrn[4];
double maxForce = -1;
double gearRatio = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddi", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddii", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &gearAuxLink, &physicsClientId))
{
return NULL;
}
@@ -4847,6 +4848,10 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
{
b3InitChangeUserConstraintSetGearRatio(commandHandle,gearRatio);
}
if (gearAuxLink>=0)
{
b3InitChangeUserConstraintSetGearAuxLink(commandHandle,gearAuxLink);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
Py_INCREF(Py_None);