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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2017-09-24 22:50:55 -07:00
parent a3552e4931 27674e5289
commit 705a59ea73
5 changed files with 48 additions and 3 deletions
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11
examples/pybullet/pybullet.c
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@@ -7184,7 +7184,7 @@ static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyOb
for (c = 0; c < dofCount; ++c) {
int element = r * dofCount + c;
PyTuple_SetItem(pyrow, c,
PyFloat_FromDouble(linearJacobian[element]));
PyFloat_FromDouble(angularJacobian[element]));
}
PyTuple_SetItem(pymat, r, pyrow);
}
@@ -7225,31 +7225,40 @@ static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyOb
static PyMethodDef SpamMethods[] = {
{"connect", (PyCFunction)pybullet_connectPhysicsServer, METH_VARARGS | METH_KEYWORDS,
"connect(method, key=SHARED_MEMORY_KEY, options='')\n"
"connect(method, hostname='localhost', port=1234, options='')\n"
"Connect to an existing physics server (using shared memory by default)."},
{"disconnect", (PyCFunction)pybullet_disconnectPhysicsServer, METH_VARARGS | METH_KEYWORDS,
"disconnect(physicsClientId=0)\n"
"Disconnect from the physics server."},
{"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS,
"resetSimulation(physicsClientId=0)\n"
"Reset the simulation: remove all objects and start from an empty world."},
{"stepSimulation", (PyCFunction)pybullet_stepSimulation, METH_VARARGS | METH_KEYWORDS,
"stepSimulation(physicsClientId=0)\n"
"Step the simulation using forward dynamics."},
{"setGravity", (PyCFunction)pybullet_setGravity, METH_VARARGS | METH_KEYWORDS,
"setGravity(gravX, gravY, gravZ, physicsClientId=0)\n"
"Set the gravity acceleration (x,y,z)."},
{"setTimeStep", (PyCFunction)pybullet_setTimeStep, METH_VARARGS | METH_KEYWORDS,
"setTimeStep(timestep, physicsClientId=0)\n"
"Set the amount of time to proceed at each call to stepSimulation. (unit "
"is seconds, typically range is 0.01 or 0.001)"},
{"setDefaultContactERP", (PyCFunction)pybullet_setDefaultContactERP, METH_VARARGS | METH_KEYWORDS,
"setDefaultContactERP(defaultContactERP, physicsClientId=0)\n"
"Set the amount of contact penetration Error Recovery Paramater "
"(ERP) in each time step. \
This is an tuning parameter to control resting contact stability. "
"This value depends on the time step."},
{"setRealTimeSimulation", (PyCFunction)pybullet_setRealTimeSimulation, METH_VARARGS | METH_KEYWORDS,
"setRealTimeSimulation(enableRealTimeSimulation, physicsClientId=0)\n"
"Enable or disable real time simulation (using the real time clock,"
" RTC) in the physics server. Expects one integer argument, 0 or 1"},