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expose gear erp/relative position target to C-API/pybullet

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finish much better C++ vrSyncPlugin, running in-the-loop with the physics at high frequency, see also vr_kuka_setup_vrSyncPlugin.py
This commit is contained in:
erwincoumans
2017-09-26 19:54:36 -07:00
parent b1f8eb74a4
commit 8a265b8af2
12 changed files with 301 additions and 31 deletions
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16
examples/pybullet/pybullet.c
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@@ -4971,7 +4971,7 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject* keywds)
{
static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "gearAuxLink", "physicsClientId", NULL};
static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "gearAuxLink", "relativePositionTarget", "erp", "physicsClientId", NULL};
int userConstraintUniqueId = -1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
@@ -4985,7 +4985,9 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
double jointChildFrameOrn[4];
double maxForce = -1;
double gearRatio = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddii", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &gearAuxLink, &physicsClientId))
double relativePositionTarget=1e32;
double erp=-1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddiddi", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &gearAuxLink, &relativePositionTarget, &erp, &physicsClientId))
{
return NULL;
}
@@ -5007,6 +5009,16 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
{
b3InitChangeUserConstraintSetFrameInB(commandHandle, jointChildFrameOrn);
}
if (relativePositionTarget<1e10)
{
b3InitChangeUserConstraintSetRelativePositionTarget(commandHandle, relativePositionTarget);
}
if (erp>=0)
{
b3InitChangeUserConstraintSetERP(commandHandle, erp);
}
if (maxForce >= 0)
{
b3InitChangeUserConstraintSetMaxForce(commandHandle, maxForce);