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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2017-08-31 10:00:24 -07:00
parent 6d0e2cd527 ee30479a28
commit 6d940d7a02
8 changed files with 248 additions and 49 deletions
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4
examples/pybullet/examples/quadruped.py
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@@ -19,7 +19,7 @@ if (physId<0):
#p.resetSimulation()
p.loadURDF("plane.urdf",0,0,0)
p.setPhysicsEngineParameter(numSolverIterations=50)
p.startStateLogging(p.STATE_LOGGING_GENERIC_ROBOT, "genericlogdata.bin", maxLogDof = 16, logFlags = p.STATE_LOG_JOINT_TORQUES)
p.setTimeOut(4)
p.setGravity(0,0,0)
@@ -156,7 +156,7 @@ t_end = t + 100
i=0
ref_time = time.time()
while t < t_end:
for aa in range (100):
if (useRealTime):
t = time.time()-ref_time
else:

20
examples/pybullet/pybullet.c
View File

@@ -3573,12 +3573,13 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
int linkIndexA = -2;
int linkIndexB = -2;
int deviceTypeFilter = -1;
int logFlags = -1;
static char* kwlist[] = {"loggingType", "fileName", "objectUniqueIds", "maxLogDof", "bodyUniqueIdA", "bodyUniqueIdB", "linkIndexA", "linkIndexB", "deviceTypeFilter", "physicsClientId", NULL};
static char* kwlist[] = {"loggingType", "fileName", "objectUniqueIds", "maxLogDof", "bodyUniqueIdA", "bodyUniqueIdB", "linkIndexA", "linkIndexB", "deviceTypeFilter", "logFlags", "physicsClientId", NULL};
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oiiiiiii", kwlist,
&loggingType, &fileName, &objectUniqueIdsObj, &maxLogDof, &bodyUniqueIdA, &bodyUniqueIdB, &linkIndexA, &linkIndexB, &deviceTypeFilter, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oiiiiiiii", kwlist,
&loggingType, &fileName, &objectUniqueIdsObj, &maxLogDof, &bodyUniqueIdA, &bodyUniqueIdB, &linkIndexA, &linkIndexB, &deviceTypeFilter, &logFlags, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -3636,6 +3637,11 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
b3StateLoggingSetDeviceTypeFilter(commandHandle,deviceTypeFilter);
}
if (logFlags >0)
{
b3StateLoggingSetLogFlags(commandHandle, logFlags);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_STATE_LOGGING_START_COMPLETED)
@@ -7472,9 +7478,11 @@ initpybullet(void)
PyModule_AddIntConstant(m, "GEOM_CAPSULE", GEOM_CAPSULE);
PyModule_AddIntConstant(m, "GEOM_FORCE_CONCAVE_TRIMESH", GEOM_FORCE_CONCAVE_TRIMESH);
PyModule_AddIntConstant(m, "STATE_LOG_JOINT_MOTOR_TORQUES", STATE_LOG_JOINT_MOTOR_TORQUES);
PyModule_AddIntConstant(m, "STATE_LOG_JOINT_USER_TORQUES", STATE_LOG_JOINT_USER_TORQUES);
PyModule_AddIntConstant(m, "STATE_LOG_JOINT_TORQUES", STATE_LOG_JOINT_USER_TORQUES+STATE_LOG_JOINT_MOTOR_TORQUES);
SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
Py_INCREF(SpamError);
PyModule_AddObject(m, "error", SpamError);