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Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure.

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Add several MSVC optimization flags to cmake.
Bump up VERSION because serialization format changed
Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo.

pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity
fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
This commit is contained in:
Erwin Coumans
2017-03-26 13:06:46 -07:00
parent ed6530264f
commit 7503418c72
32 changed files with 1412 additions and 1026 deletions
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52
examples/pybullet/pybullet.c
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@@ -2075,7 +2075,7 @@ 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};
@@ -2118,7 +2118,16 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
PyTuple_SetItem(pyListJointInfo, 6,
PyFloat_FromDouble(info.m_jointDamping));
PyTuple_SetItem(pyListJointInfo, 7,
PyFloat_FromDouble(info.m_jointFriction));
PyFloat_FromDouble(info.m_jointFriction1));
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
@@ -2246,17 +2255,21 @@ 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;
}
@@ -2286,6 +2299,12 @@ 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);
@@ -2340,7 +2359,16 @@ 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);
@@ -2348,6 +2376,20 @@ 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;
}
}