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

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erwincoumans
2017-10-25 08:15:14 -07:00
parent ed8de36ffa c1ba04a580
commit 7524e37124
30 changed files with 759 additions and 74 deletions
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77
examples/pybullet/pybullet.c
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@@ -2470,7 +2470,7 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"constraintUniqueId", "physicsClientId", NULL};
static char* kwlist[] = { "constraintUniqueId", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &constraintUniqueId, &physicsClientId))
{
return NULL;
@@ -2487,7 +2487,7 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
if (b3GetUserConstraintInfo(sm, constraintUniqueId, &constraintInfo))
{
PyObject* pyListConstraintInfo = PyTuple_New(11);
PyObject* pyListConstraintInfo = PyTuple_New(15);
PyTuple_SetItem(pyListConstraintInfo, 0, PyLong_FromLong(constraintInfo.m_parentBodyIndex));
PyTuple_SetItem(pyListConstraintInfo, 1, PyLong_FromLong(constraintInfo.m_parentJointIndex));
@@ -2533,16 +2533,71 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
PyTuple_SetItem(pyListConstraintInfo, 9, childFrameOrientation);
}
PyTuple_SetItem(pyListConstraintInfo, 10, PyFloat_FromDouble(constraintInfo.m_maxAppliedForce));
PyTuple_SetItem(pyListConstraintInfo, 11, PyFloat_FromDouble(constraintInfo.m_gearRatio));
PyTuple_SetItem(pyListConstraintInfo, 12, PyLong_FromLong(constraintInfo.m_gearAuxLink));
PyTuple_SetItem(pyListConstraintInfo, 13, PyFloat_FromDouble(constraintInfo.m_relativePositionTarget));
PyTuple_SetItem(pyListConstraintInfo, 14, PyFloat_FromDouble(constraintInfo.m_erp));
return pyListConstraintInfo;
}
}
}
PyErr_SetString(SpamError, "Couldn't get user constraint info");
return NULL;
}
static PyObject* pybullet_getConstraintState(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int constraintUniqueId = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = { "constraintUniqueId", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &constraintUniqueId, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (b3CanSubmitCommand(sm))
{
struct b3UserConstraintState constraintState;
cmd_handle = b3InitGetUserConstraintStateCommand(sm, constraintUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
statusType = b3GetStatusType(statusHandle);
if (b3GetStatusUserConstraintState(statusHandle, &constraintState))
{
if (constraintState.m_numDofs)
{
PyObject* appliedConstraintForces = PyTuple_New(constraintState.m_numDofs);
int i = 0;
for (i = 0; i < constraintState.m_numDofs; i++)
{
PyTuple_SetItem(appliedConstraintForces, i, PyFloat_FromDouble(constraintState.m_appliedConstraintForces[i]));
}
return appliedConstraintForces;
}
}
}
}
}
PyErr_SetString(SpamError, "Couldn't getConstraintState.");
return NULL;
}
static PyObject* pybullet_getConstraintUniqueId(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
@@ -7004,7 +7059,8 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
PyObject* targetPosObj = 0;
PyObject* targetOrnObj = 0;
int solver = 0; // the default IK solver is DLS
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
PyObject* lowerLimitsObj = 0;
@@ -7013,8 +7069,8 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
PyObject* restPosesObj = 0;
PyObject* jointDampingObj = 0;
static char* kwlist[] = {"bodyUniqueId", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOOi", kwlist, &bodyUniqueId, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "solver", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOOii", kwlist, &bodyUniqueId, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &solver, &physicsClientId))
{
//backward compatibility bodyIndex -> bodyUniqueId. don't update keywords, people need to migrate to bodyUniqueId version
static char* kwlist2[] = {"bodyIndex", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "physicsClientId", NULL};
@@ -7112,6 +7168,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
int result;
b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(sm, bodyUniqueId);
b3CalculateInverseKinematicsSelectSolver(command, solver);
if (hasNullSpace)
{
@@ -7705,6 +7762,9 @@ static PyMethodDef SpamMethods[] = {
{"getConstraintInfo", (PyCFunction)pybullet_getConstraintInfo, METH_VARARGS | METH_KEYWORDS,
"Get the user-created constraint info, given a constraint unique id."},
{ "getConstraintState", (PyCFunction)pybullet_getConstraintState, METH_VARARGS | METH_KEYWORDS,
"Get the user-created constraint state (applied forces), given a constraint unique id." },
{"getConstraintUniqueId", (PyCFunction)pybullet_getConstraintUniqueId, METH_VARARGS | METH_KEYWORDS,
"Get the unique id of the constraint, given a integer index in range [0.. number of constraints)."},
@@ -8139,6 +8199,13 @@ 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, "IK_DLS", IK_DLS);
PyModule_AddIntConstant(m, "IK_SDLS", IK_SDLS);
PyModule_AddIntConstant(m, "IK_HAS_TARGET_POSITION", IK_HAS_TARGET_POSITION);
PyModule_AddIntConstant(m, "IK_HAS_TARGET_ORIENTATION", IK_HAS_TARGET_ORIENTATION);
PyModule_AddIntConstant(m, "IK_HAS_NULL_SPACE_VELOCITY", IK_HAS_NULL_SPACE_VELOCITY);
PyModule_AddIntConstant(m, "IK_HAS_JOINT_DAMPING", IK_HAS_JOINT_DAMPING);
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);