Allow to configure Y=up, default is Z=up, using pybullet.configureDebugVisualizer(COV_ENABLE_Y_AXIS_UP,0/1)

Implement pybullet.getConnectionInfo, returns [isConnected, connectionMethod], where isConnected=0 or 1

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -377,6 +377,13 @@ void OpenGLExampleBrowser::registerFileImporter(const char* extension, CommonExa
 
 void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable)
 {
+	if (flag == COV_ENABLE_Y_AXIS_UP)
+	{
+		//either Y = up or Z
+		int upAxis = enable? 1:2;
+		s_app->setUpAxis(upAxis);
+	}
+
 	if (flag == COV_ENABLE_RENDERING)
 	{
 		gEnableRenderLoop = (enable!=0);

examples/SharedMemory/PhysicsClientC_API.h

@@ -323,10 +323,8 @@ B3_SHARED_API	int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle,
 	double* angularJacobian);
 
 B3_SHARED_API	b3SharedMemoryCommandHandle	b3CalculateMassMatrixCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, const double* jointPositionsQ);
-B3_SHARED_API	int b3GetStatusMassMatrix(b3SharedMemoryStatusHandle statusHandle,
+///the mass matrix is stored in column-major layout of size dofCount*dofCount
-	int* dofCount,
+B3_SHARED_API	int b3GetStatusMassMatrix(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle statusHandle,	int* dofCount,	double* massMatrix);
-	double* massMatrix);
-
 
 
 ///compute the joint positions to move the end effector to a desired target using inverse kinematics

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -376,10 +376,16 @@ void MyKeyboardCallback(int key, int state)
 extern bool useShadowMap;
 static bool gEnableVRRenderControllers=true;
 static bool gEnableVRRendering = true;
-
+static int gUpAxis = 2;
 
 void VRPhysicsServerVisualizerFlagCallback(int flag, bool enable)
 {
+	if (flag == COV_ENABLE_Y_AXIS_UP)
+	{
+		//either Y = up or Z
+		gUpAxis = enable? 1:2;
+	}
+
     if (flag == COV_ENABLE_SHADOWS)
     {
         useShadowMap = enable;
@@ -890,6 +896,7 @@ void CMainApplication::RunMainLoop()
 
 	while ( !bQuit && !m_app->m_window->requestedExit())
 	{
+		this->m_app->setUpAxis(gUpAxis);
 		b3ChromeUtilsEnableProfiling();
 		if (gEnableVRRendering)
 		{

examples/pybullet/pybullet.c

@@ -503,6 +503,36 @@ void b3pybulletExitFunc(void)
 }
 
 
+static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int physicsClientId = 0;
+	int isConnected=0;
+	int method=0;
+	PyObject* pylist = 0;
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = {"physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm != 0)
+	{
+		if (b3CanSubmitCommand(sm))
+		{
+			isConnected = 1;
+			method = sPhysicsClientsGUI[physicsClientId];
+		}
+	}
+
+	pylist = PyTuple_New(2);
+	PyTuple_SetItem(pylist, 0, PyInt_FromLong(isConnected));
+	PyTuple_SetItem(pylist, 1, PyInt_FromLong(method));
+	return pylist;
+
+}
+
+
 static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	const char* worldFileName = "";
@@ -7314,13 +7344,14 @@ static PyObject* pybullet_calculateMassMatrix(PyObject* self, PyObject* args, Py
 					if (statusType == CMD_CALCULATED_MASS_MATRIX_COMPLETED)
 					{
 						int dofCount;
-						b3GetStatusMassMatrix(statusHandle, &dofCount, NULL);
+						b3GetStatusMassMatrix(sm, statusHandle, &dofCount, NULL);
 						if (dofCount)
 						{
-							pyResultList = PyTuple_New(dofCount);
 							int byteSizeDofCount = sizeof(double) * dofCount;
+							pyResultList = PyTuple_New(dofCount);
+							
 							massMatrix = (double*)malloc(dofCount * byteSizeDofCount);
-							b3GetStatusMassMatrix(statusHandle, NULL, massMatrix);
+							b3GetStatusMassMatrix(sm, statusHandle, NULL, massMatrix);
 							if (massMatrix)
 							{
 								int r;
@@ -7372,6 +7403,10 @@ static PyMethodDef SpamMethods[] = {
 	"disconnect(physicsClientId=0)\n"
 	 "Disconnect from the physics server."},
 
+	 {"getConnectionInfo", (PyCFunction)pybullet_getConnectionInfo, METH_VARARGS | METH_KEYWORDS,
+	  "getConnectionInfo(physicsClientId=0)\n"
+	  "Return if a given client id is connected, and using what method."},
+
 	{"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS,
 	"resetSimulation(physicsClientId=0)\n"
 	 "Reset the simulation: remove all objects and start from an empty world."},