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Add pybullet example to get dynamic info.

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This commit is contained in:
yunfeibai
2017-05-07 22:41:05 -07:00
parent 5fe4c6bb5b
commit 92de4ecd31
2 changed files with 64 additions and 0 deletions
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4
examples/pybullet/examples/reset_dynamic_info.py
View File

@@ -16,5 +16,9 @@ while 1:
t=t+1
if t > 400:
p.resetDynamicInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
mass1,frictionCoeff1=p.getDynamicInfo(bodyUniqueId=0,linkIndex=-1)
mass2,frictionCoeff2=p.getDynamicInfo(bodyUniqueId=2,linkIndex=-1)
print mass1,frictionCoeff1
print mass2,frictionCoeff2
time.sleep(.01)
p.stepSimulation()

60
examples/pybullet/pybullet.c
View File

@@ -647,6 +647,63 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj
return Py_None;
}
static PyObject* pybullet_getDynamicInfo(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int bodyUniqueId = -1;
int linkIndex = -2;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle status_handle;
if (bodyUniqueId < 0)
{
PyErr_SetString(SpamError, "getDynamicInfo failed; invalid bodyUniqueId");
return NULL;
}
if (linkIndex < -1)
{
PyErr_SetString(SpamError, "getDynamicInfo failed; invalid linkIndex");
return NULL;
}
cmd_handle = b3GetDynamicInfoCommandInit(sm, bodyUniqueId, linkIndex);
status_handle = b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle);
if (status_type != CMD_GET_DYNAMIC_INFO_COMPLETED)
{
PyErr_SetString(SpamError, "getDynamicInfo failed; invalid return status");
return NULL;
}
struct b3DynamicInfo info;
if (b3GetDynamicInfo(status_handle, &info))
{
PyObject* pyDynamicInfo = PyTuple_New(2);
PyTuple_SetItem(pyDynamicInfo, 0, PyFloat_FromDouble(info.m_mass));
PyTuple_SetItem(pyDynamicInfo, 1, PyFloat_FromDouble(info.m_lateralFrictionCoeff));
return pyDynamicInfo;
}
}
}
PyErr_SetString(SpamError, "Couldn't get dynamic info");
return NULL;
}
static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject* keywds)
{
double fixedTimeStep = -1;
@@ -5584,6 +5641,9 @@ static PyMethodDef SpamMethods[] = {
{"resetDynamicInfo", (PyCFunction)pybullet_resetDynamicInfo, METH_VARARGS | METH_KEYWORDS,
"Reset dynamic information such as mass, lateral friction coefficient."},
{"getDynamicInfo", (PyCFunction)pybullet_getDynamicInfo, METH_VARARGS | METH_KEYWORDS,
"Get dynamic information such as mass, lateral friction coefficient."},
{"setJointMotorControl", (PyCFunction)pybullet_setJointMotorControl, METH_VARARGS,
"This (obsolete) method cannot select non-zero physicsClientId, use setJointMotorControl2 instead."