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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
yunfeibai
2017-03-29 15:06:15 -07:00
parent 64573c38e4 30c1923b00
commit 66a8685816
77 changed files with 2213 additions and 1218 deletions
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64
examples/pybullet/pybullet.c
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@@ -693,8 +693,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int flags = 0;
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "physicsClientId", NULL};
static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "useMaximalCoordinates", "useFixedBase", "flags","physicsClientId", NULL};
static char* kwlistBackwardCompatible4[] = {"fileName", "startPosX", "startPosY", "startPosZ", NULL};
static char* kwlistBackwardCompatible8[] = {"fileName", "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY", "startOrnZ", "startOrnW", NULL};
@@ -741,7 +742,7 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
double basePos[3];
double baseOrn[4];
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOiiii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates, &useFixedBase, &flags, &physicsClientId))
{
return NULL;
}
@@ -790,6 +791,8 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject* key
b3SharedMemoryCommandHandle command =
b3LoadUrdfCommandInit(sm, urdfFileName);
b3LoadUrdfCommandSetFlags(command,flags);
// setting the initial position, orientation and other arguments are
// optional
b3LoadUrdfCommandSetStartPosition(command, startPosX, startPosY, startPosZ);
@@ -2076,7 +2079,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
int bodyUniqueId = -1;
int jointIndex = -1;
int jointInfoSize = 8; // size of struct b3JointInfo
int jointInfoSize = 12; // size of struct b3JointInfo
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "jointIndex", "physicsClientId", NULL};
@@ -2120,6 +2123,15 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
PyFloat_FromDouble(info.m_jointDamping));
PyTuple_SetItem(pyListJointInfo, 7,
PyFloat_FromDouble(info.m_jointFriction));
PyTuple_SetItem(pyListJointInfo, 8,
PyFloat_FromDouble(info.m_jointLowerLimit));
PyTuple_SetItem(pyListJointInfo, 9,
PyFloat_FromDouble(info.m_jointUpperLimit));
PyTuple_SetItem(pyListJointInfo, 10,
PyFloat_FromDouble(info.m_jointMaxForce));
PyTuple_SetItem(pyListJointInfo, 11,
PyFloat_FromDouble(info.m_jointMaxVelocity));
return pyListJointInfo;
}
else
@@ -2247,17 +2259,21 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
PyObject* pyLinkStateLocalInertialOrientation;
PyObject* pyLinkStateWorldLinkFramePosition;
PyObject* pyLinkStateWorldLinkFrameOrientation;
PyObject* pyLinkStateWorldLinkLinearVelocity;
PyObject* pyLinkStateWorldLinkAngularVelocity;
struct b3LinkState linkState;
int bodyUniqueId = -1;
int linkIndex = -1;
int computeLinkVelocity = 0;
int i;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "computeLinkVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ii", kwlist, &bodyUniqueId, &linkIndex,&computeLinkVelocity, &physicsClientId))
{
return NULL;
}
@@ -2287,6 +2303,12 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
cmd_handle =
b3RequestActualStateCommandInit(sm, bodyUniqueId);
if (computeLinkVelocity)
{
b3RequestActualStateCommandComputeLinkVelocity(cmd_handle,computeLinkVelocity);
}
status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
@@ -2341,7 +2363,16 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
PyFloat_FromDouble(linkState.m_worldLinkFrameOrientation[i]));
}
pyLinkState = PyTuple_New(6);
if (computeLinkVelocity)
{
pyLinkState = PyTuple_New(8);
} else
{
pyLinkState = PyTuple_New(6);
}
PyTuple_SetItem(pyLinkState, 0, pyLinkStateWorldPosition);
PyTuple_SetItem(pyLinkState, 1, pyLinkStateWorldOrientation);
PyTuple_SetItem(pyLinkState, 2, pyLinkStateLocalInertialPosition);
@@ -2349,6 +2380,20 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
PyTuple_SetItem(pyLinkState, 4, pyLinkStateWorldLinkFramePosition);
PyTuple_SetItem(pyLinkState, 5, pyLinkStateWorldLinkFrameOrientation);
if (computeLinkVelocity)
{
pyLinkStateWorldLinkLinearVelocity = PyTuple_New(3);
pyLinkStateWorldLinkAngularVelocity = PyTuple_New(3);
for (i = 0; i < 3; ++i)
{
PyTuple_SetItem(pyLinkStateWorldLinkLinearVelocity, i,
PyFloat_FromDouble(linkState.m_worldLinearVelocity[i]));
PyTuple_SetItem(pyLinkStateWorldLinkAngularVelocity, i,
PyFloat_FromDouble(linkState.m_worldAngularVelocity[i]));
}
PyTuple_SetItem(pyLinkState, 6, pyLinkStateWorldLinkLinearVelocity);
PyTuple_SetItem(pyLinkState, 7, pyLinkStateWorldLinkAngularVelocity);
}
return pyLinkState;
}
}
@@ -3875,15 +3920,13 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
b3RequestCameraImageSelectRenderer(command, renderer);
b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
if (b3CanSubmitCommand(sm))
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
@@ -4308,7 +4351,6 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
b3SharedMemoryStatusHandle statusHandle;
int statusType;
// b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
@@ -5381,6 +5423,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
PyModule_AddIntConstant(m, "B3G_F1", B3G_F1);
PyModule_AddIntConstant(m, "B3G_F2", B3G_F2);
PyModule_AddIntConstant(m, "B3G_F3", B3G_F3);