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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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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);