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Expose anisotropic friction, add snake demo. Simple snake slither locomotion from > 15 years ago, thanks to Michael Ewert @ Havok!

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Visit http://www.snakerobots.com to see one of these in the wild
This commit is contained in:
erwincoumans
2019-03-07 21:13:00 -08:00
parent d7b54b0265
commit 9408e4f2d0
6 changed files with 169 additions and 3 deletions
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11
examples/pybullet/pybullet.c
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@@ -1242,12 +1242,13 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
int activationState = -1;
double jointDamping = -1;
PyObject* localInertiaDiagonalObj = 0;
PyObject* anisotropicFrictionObj = 0;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &physicsClientId))
{
return NULL;
}
@@ -1273,6 +1274,12 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
}
if (anisotropicFrictionObj)
{
double anisotropicFriction[3];
pybullet_internalSetVectord(anisotropicFrictionObj, anisotropicFriction);
b3ChangeDynamicsInfoSetAnisotropicFriction(command, bodyUniqueId, linkIndex, anisotropicFriction);
}
if (localInertiaDiagonalObj)
{
double localInertiaDiagonal[3];