Merge pull request #743 from erwincoumans/master

tweak in BEB F1/screenshot handling, 	by default, have a strong force keep the robot together

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -1103,6 +1103,24 @@ void OpenGLExampleBrowser::update(float deltaTime)
             s_app->drawText(bla,10,10);
 		}
 
+    if (gPngFileName)
+    {
+        
+        static int skip = 0;
+        skip--;
+        if (skip<0)
+        {
+            skip=gPngSkipFrames;
+            //printf("gPngFileName=%s\n",gPngFileName);
+            static int s_frameCount = 100;
+            
+            sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
+            //b3Printf("Made screenshot %s",staticPngFileName);
+            s_app->dumpNextFrameToPng(staticPngFileName);
+            glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+        }
+    }
+
 		
 		if (sCurrentDemo)
 		{
@@ -1145,23 +1163,6 @@ void OpenGLExampleBrowser::update(float deltaTime)
             }
 		}
 
-				if (gPngFileName)
-				{
-
-					static int skip = 0;
-					skip--;
-					if (skip<0)
-					{
-						skip=gPngSkipFrames;
-						//printf("gPngFileName=%s\n",gPngFileName);
-						static int s_frameCount = 100;
-
-						sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
-						//b3Printf("Made screenshot %s",staticPngFileName);
-						s_app->dumpNextFrameToPng(staticPngFileName);
-						 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-					}
-				}
     
 
 		{

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -696,7 +696,7 @@ void	PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
 
 		if (supportsJointMotor(mb,mbLinkIndex))
 		{
-			float maxMotorImpulse = 0.f;
+			float maxMotorImpulse = 10000.f;
 			int dof = 0;
 			btScalar desiredVelocity = 0.f;
 			btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb,mbLinkIndex,dof,desiredVelocity,maxMotorImpulse);
@@ -1602,6 +1602,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 							int totalDegreeOfFreedomQ = 0;
 							int totalDegreeOfFreedomU = 0;
 
+							if (mb->getNumLinks()>= MAX_DEGREE_OF_FREEDOM)
+							{
+								serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED;
+								hasStatus = true;
+								break;
+							}
 
 							//always add the base, even for static (non-moving objects)
 							//so that we can easily move the 'fixed' base when needed

examples/SharedMemory/SharedMemoryCommands.h

@@ -27,7 +27,7 @@
 #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
 
 #define SHARED_MEMORY_SERVER_TEST_C
-#define MAX_DEGREE_OF_FREEDOM 64
+#define MAX_DEGREE_OF_FREEDOM 128
 #define MAX_NUM_SENSORS 256
 #define MAX_URDF_FILENAME_LENGTH 1024
 #define MAX_SDF_FILENAME_LENGTH 1024

examples/TinyRenderer/TinyRenderer.cpp

@@ -268,7 +268,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
 	renderData.m_viewportMatrix = viewport(0,0,width, height);
 	
     b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
-    int* segmentationMaskBufferPtr = &renderData.m_segmentationMaskBufferPtr->at(0);
+    int* segmentationMaskBufferPtr = renderData.m_segmentationMaskBufferPtr?&renderData.m_segmentationMaskBufferPtr->at(0):0;
     
     TGAImage& frame = renderData.m_rgbColorBuffer;
 

examples/pybullet/pybullet.c

@@ -532,7 +532,7 @@ pybullet_setTimeStep(PyObject* self, PyObject* args)
 
 // Internal function used to get the base position and orientation
 // Orientation is returned in quaternions
-static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double basePosition[3],double baseOrientation[3])
+static int pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double basePosition[3],double baseOrientation[3])
 {
     basePosition[0] = 0.;
     basePosition[1] = 0.;
@@ -552,7 +552,11 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double
                     b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
 
             const int status_type = b3GetStatusType(status_handle);
-            
+			if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
+			{
+				PyErr_SetString(SpamError, "getBasePositionAndOrientation failed.");
+				return 0;
+			}
             const double* actualStateQ;
             // const double* jointReactionForces[];
             int i;
@@ -579,6 +583,7 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double
             
 		}
 	}
+	return 1;
 }
 
 // Get the positions (x,y,z) and orientation (x,y,z,w) in quaternion
@@ -606,7 +611,11 @@ pybullet_getBasePositionAndOrientation(PyObject* self, PyObject* args)
         return NULL;
     }
 
-    pybullet_internalGetBasePositionAndOrientation(bodyIndex,basePosition,baseOrientation);
+	if (0==pybullet_internalGetBasePositionAndOrientation(bodyIndex, basePosition, baseOrientation))
+	{
+		PyErr_SetString(SpamError, "GetBasePositionAndOrientation failed (#joints/links exceeds maximum?).");
+		return NULL;
+	}
     
     {
     
@@ -848,14 +857,10 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
       
       // printf("body index = %d, joint index =%d\n", bodyIndex, jointIndex);
 
-    b3SharedMemoryCommandHandle cmd_handle =
-            b3RequestActualStateCommandInit(sm, bodyIndex);
-        b3SharedMemoryStatusHandle status_handle =
-                b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
-                  
      pyListJointInfo = PyTuple_New(jointInfoSize);
 
-     b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
+	 if (b3GetJointInfo(sm, bodyIndex, jointIndex, &info))
+	 {
 
 		 //  printf("Joint%d %s, type %d, at q-index %d and u-index %d\n",
 		 //          info.m_jointIndex,
@@ -885,6 +890,12 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
 			 PyFloat_FromDouble(info.m_jointFriction));
 		 return pyListJointInfo;
 	 }
+	 else
+	 {
+		 PyErr_SetString(SpamError, "GetJointInfo failed.");
+		 return NULL;
+	 }
+    }
   }
   
 	Py_INCREF(Py_None);
@@ -934,12 +945,19 @@ pybullet_getJointState(PyObject* self, PyObject* args)
   {
    if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex))
   	{
-
+		int status_type = 0;
   b3SharedMemoryCommandHandle cmd_handle =
           b3RequestActualStateCommandInit(sm, bodyIndex);
       b3SharedMemoryStatusHandle status_handle =
               b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
               
+	  status_type = b3GetStatusType(status_handle);
+	  if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
+	  {
+		  PyErr_SetString(SpamError, "getBasePositionAndOrientation failed.");
+		  return NULL;
+	  }
+
    pyListJointState = PyTuple_New(sensorStateSize);
    pyListJointForceTorque = PyTuple_New(forceTorqueSize);