From 5776f61a739bc782f68b075548a8ef4da3106f7e Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 29 Jan 2018 19:16:01 -0800 Subject: [PATCH 1/2] fix issue that prevents p/invoke c# generation from PhysicsClientC_API.h --- examples/SharedMemory/PhysicsClientC_API.cpp | 2 +- examples/SharedMemory/PhysicsClientC_API.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index c83a8515e..0ee22969b 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -2203,7 +2203,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle comman return 0; } -B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[3]) +B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO); diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index e7f283026..34f5d9f31 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -116,7 +116,7 @@ B3_SHARED_API int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, str B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physClient); B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass); -B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[3]); +B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[]); B3_SHARED_API int b3ChangeDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction); B3_SHARED_API int b3ChangeDynamicsInfoSetSpinningFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double friction); From 40482e0925e6a2f572e2402cbd7404b4ec162774 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 29 Jan 2018 19:19:34 -0800 Subject: [PATCH 2/2] fix urdfEditor.py --- examples/pybullet/examples/urdfEditor.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/pybullet/examples/urdfEditor.py b/examples/pybullet/examples/urdfEditor.py index 4ace93580..f2dfb8cf1 100644 --- a/examples/pybullet/examples/urdfEditor.py +++ b/examples/pybullet/examples/urdfEditor.py @@ -523,7 +523,7 @@ p.resetSimulation(physicsClientId=org) -mb = p.loadURDF("r2d2.urdf", physicsClientId=org) +mb = p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER, physicsClientId=org) for i in range(p.getNumJoints(mb,physicsClientId=org)): p.setJointMotorControl2(mb,i,p.VELOCITY_CONTROL,force=0,physicsClientId=org)