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Add API to reset lateral friction coefficient.

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This commit is contained in:
yunfeibai
2017-05-03 21:47:53 -07:00
parent 1841a41f2a
commit 939d6ead32
8 changed files with 54 additions and 4 deletions
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12
examples/pybullet/pybullet.c
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@@ -609,11 +609,12 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj
int bodyUniqueId = -1;
int linkIndex = -2;
double mass = -1;
double lateralFriction = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|di", kwlist, &bodyUniqueId, &linkIndex,&mass, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &physicsClientId))
{
return NULL;
}
@@ -634,6 +635,11 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj
b3ResetDynamicInfoSetMass(command, bodyUniqueId, linkIndex, mass);
}
if (lateralFriction >= 0)
{
b3ResetDynamicInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
@@ -5504,7 +5510,7 @@ static PyMethodDef SpamMethods[] = {
"instantaneously, not through physics simulation."},
{"resetDynamicInfo", (PyCFunction)pybullet_resetDynamicInfo, METH_VARARGS | METH_KEYWORDS,
"Reset dynamic information such as mass, COM."},
"Reset 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."