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Preliminary version of pybullet.createMultiBody including links connected to parent by a joint.

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See createMultiBodyLinks.py example.
This commit is contained in:
Erwin Coumans
2017-06-19 13:15:05 -07:00
parent f3c11b6f31
commit 7441515c0e
6 changed files with 181 additions and 25 deletions
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28
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -993,6 +993,12 @@ int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass
command->m_createMultiBodyArgs.m_linkVisualShapeUniqueIds[baseLinkIndex] = visualShapeUniqueId;
command->m_createMultiBodyArgs.m_linkMasses[baseLinkIndex] = mass;
command->m_createMultiBodyArgs.m_linkParentIndices[baseLinkIndex] = -2;//no parent
command->m_createMultiBodyArgs.m_linkJointAxis[baseLinkIndex+0]=0;
command->m_createMultiBodyArgs.m_linkJointAxis[baseLinkIndex+1]=0;
command->m_createMultiBodyArgs.m_linkJointAxis[baseLinkIndex+2]=0;
command->m_createMultiBodyArgs.m_linkJointTypes[baseLinkIndex]=-1;
command->m_createMultiBodyArgs.m_numLinks++;
}
return numLinks;
@@ -1004,6 +1010,8 @@ int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double link
double linkVisualShapeIndex,
double linkPosition[3],
double linkOrientation[4],
double linkInertialFramePosition[3],
double linkInertialFrameOrientation[4],
int linkParentIndex,
int linkJointType,
double linkJointAxis[3])
@@ -1033,23 +1041,23 @@ int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double link
command->m_createMultiBodyArgs.m_linkInertias[linkIndex*3+2] = linkMass;
command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+0] = 0;
command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+1] = 0;
command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+2] = 0;
command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+0] = linkInertialFramePosition[0];
command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+1] = linkInertialFramePosition[1];
command->m_createMultiBodyArgs.m_linkInertialFramePositions[linkIndex*3+2] = linkInertialFramePosition[2];
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+0] = 0;
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+1] = 0;
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+2] = 0;
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+3] = 1;
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+0] = linkInertialFrameOrientation[0];
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+1] = linkInertialFrameOrientation[1];
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+2] = linkInertialFrameOrientation[2];
command->m_createMultiBodyArgs.m_linkInertialFrameOrientations[linkIndex*4+3] = linkInertialFrameOrientation[3];
command->m_createMultiBodyArgs.m_linkCollisionShapeUniqueIds[linkIndex]= linkCollisionShapeIndex;
command->m_createMultiBodyArgs.m_linkVisualShapeUniqueIds[linkIndex] = linkVisualShapeIndex;
command->m_createMultiBodyArgs.m_linkParentIndices[linkIndex] = linkParentIndex;
command->m_createMultiBodyArgs.m_linkJointTypes[linkIndex] = linkJointType;
command->m_createMultiBodyArgs.m_linkJointAxis[0] = linkJointAxis[0];
command->m_createMultiBodyArgs.m_linkJointAxis[1] = linkJointAxis[1];
command->m_createMultiBodyArgs.m_linkJointAxis[2] = linkJointAxis[2];
command->m_createMultiBodyArgs.m_linkJointAxis[3*linkIndex+0] = linkJointAxis[0];
command->m_createMultiBodyArgs.m_linkJointAxis[3*linkIndex+1] = linkJointAxis[1];
command->m_createMultiBodyArgs.m_linkJointAxis[3*linkIndex+2] = linkJointAxis[2];
command->m_createMultiBodyArgs.m_linkMasses[linkIndex] = linkMass;
command->m_createMultiBodyArgs.m_numLinks++;