diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 92c1692b0..aa1d3f3be 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1214,65 +1214,65 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd return cl->getJointInfo(bodyIndex, jointIndex, *info); } -b3SharedMemoryCommandHandle b3GetDynamicInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex) +b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex) { PhysicsClient* cl = (PhysicsClient* ) physClient; b3Assert(cl); b3Assert(cl->canSubmitCommand()); struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); b3Assert(command); - command->m_type = CMD_GET_DYNAMIC_INFO; - command->m_getDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId; - command->m_getDynamicInfoArgs.m_linkIndex = linkIndex; + command->m_type = CMD_GET_DYNAMICS_INFO; + command->m_getDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId; + command->m_getDynamicsInfoArgs.m_linkIndex = linkIndex; return (b3SharedMemoryCommandHandle) command; } -int b3GetDynamicInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicInfo* info) +int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicsInfo* info) { const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle; - const b3DynamicInfo &dynamicInfo = status->m_dynamicInfo; - btAssert(status->m_type == CMD_GET_DYNAMIC_INFO); - if (status->m_type != CMD_GET_DYNAMIC_INFO_COMPLETED) + const b3DynamicsInfo &dynamicsInfo = status->m_dynamicsInfo; + btAssert(status->m_type == CMD_GET_DYNAMICS_INFO); + if (status->m_type != CMD_GET_DYNAMICS_INFO_COMPLETED) return false; - info->m_mass = dynamicInfo.m_mass; - info->m_lateralFrictionCoeff = dynamicInfo.m_lateralFrictionCoeff; + info->m_mass = dynamicsInfo.m_mass; + info->m_lateralFrictionCoeff = dynamicsInfo.m_lateralFrictionCoeff; return true; } -b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient) +b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient) { PhysicsClient* cl = (PhysicsClient* ) physClient; b3Assert(cl); b3Assert(cl->canSubmitCommand()); struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); b3Assert(command); - command->m_type = CMD_RESET_DYNAMIC_INFO; + command->m_type = CMD_RESET_DYNAMICS_INFO; command->m_updateFlags = 0; return (b3SharedMemoryCommandHandle) command; } -int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass) +int b3ResetDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; - b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO); + b3Assert(command->m_type == CMD_RESET_DYNAMICS_INFO); b3Assert(mass > 0); - command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId; - command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex; - command->m_resetDynamicInfoArgs.m_mass = mass; - command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_MASS; + command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId; + command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex; + command->m_resetDynamicsInfoArgs.m_mass = mass; + command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_MASS; return 0; } -int b3ResetDynamicInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction) +int b3ResetDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; - b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO); - command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId; - command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex; - command->m_resetDynamicInfoArgs.m_lateralFriction = lateralFriction; - command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION; + b3Assert(command->m_type == CMD_RESET_DYNAMICS_INFO); + command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId; + command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex; + command->m_resetDynamicsInfoArgs.m_lateralFriction = lateralFriction; + command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION; return 0; } diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 2d9b16630..58da884d4 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -77,13 +77,13 @@ int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex); ///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info); -b3SharedMemoryCommandHandle b3GetDynamicInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex); +b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex); ///given a body unique id and link index, return the dynamic information. See b3DynamicInfo in SharedMemoryPublic.h -int b3GetDynamicInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicInfo* info); +int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicsInfo* info); -b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient); -int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass); -int b3ResetDynamicInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction); +b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient); +int b3ResetDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass); +int b3ResetDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction); b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info); diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index 86e03c0c9..7fe0109d8 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -260,7 +260,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) case CMD_LOAD_SDF: { #ifdef BT_DEBUG - b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.sdf"); + b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf"); #else b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kitchens/1.sdf");//two_cubes.sdf");//kitchens/1.sdf");//kuka_iiwa/model.sdf"); #endif diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 6c8bb1f83..c618e2afe 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -1039,11 +1039,11 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { b3Warning("Removing body failed"); break; } - case CMD_GET_DYNAMIC_INFO_COMPLETED: + case CMD_GET_DYNAMICS_INFO_COMPLETED: { break; } - case CMD_GET_DYNAMIC_INFO_FAILED: + case CMD_GET_DYNAMICS_INFO_FAILED: { b3Warning("Request dynamic info failed"); break; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 6190cad6d..723ec9dfa 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3898,15 +3898,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm break; }; - case CMD_RESET_DYNAMIC_INFO: + case CMD_RESET_DYNAMICS_INFO: { - BT_PROFILE("CMD_RESET_DYNAMIC_INFO"); + BT_PROFILE("CMD_RESET_DYNAMICS_INFO"); - if (clientCmd.m_updateFlags & RESET_DYNAMIC_INFO_SET_MASS) + if (clientCmd.m_updateFlags & RESET_DYNAMICS_INFO_SET_MASS) { - int bodyUniqueId = clientCmd.m_resetDynamicInfoArgs.m_bodyUniqueId; - int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex; - double mass = clientCmd.m_resetDynamicInfoArgs.m_mass; + int bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId; + int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex; + double mass = clientCmd.m_resetDynamicsInfoArgs.m_mass; btAssert(bodyUniqueId >= 0); btAssert(linkIndex >= -1); @@ -3925,11 +3925,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } } - if (clientCmd.m_updateFlags & RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION) + if (clientCmd.m_updateFlags & RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION) { - int bodyUniqueId = clientCmd.m_resetDynamicInfoArgs.m_bodyUniqueId; - int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex; - double lateralFriction = clientCmd.m_resetDynamicInfoArgs.m_lateralFriction; + int bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId; + int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex; + double lateralFriction = clientCmd.m_resetDynamicsInfoArgs.m_lateralFriction; btAssert(bodyUniqueId >= 0); btAssert(linkIndex >= -1); @@ -3955,26 +3955,26 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm break; }; - case CMD_GET_DYNAMIC_INFO: + case CMD_GET_DYNAMICS_INFO: { - int bodyUniqueId = clientCmd.m_getDynamicInfoArgs.m_bodyUniqueId; - int linkIndex = clientCmd.m_getDynamicInfoArgs.m_linkIndex; + int bodyUniqueId = clientCmd.m_getDynamicsInfoArgs.m_bodyUniqueId; + int linkIndex = clientCmd.m_getDynamicsInfoArgs.m_linkIndex; InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); if (body && body->m_multiBody) { SharedMemoryStatus& serverCmd = serverStatusOut; - serverCmd.m_type = CMD_GET_DYNAMIC_INFO_COMPLETED; + serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED; btMultiBody* mb = body->m_multiBody; if (linkIndex == -1) { - serverCmd.m_dynamicInfo.m_mass = mb->getBaseMass(); - serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction(); + serverCmd.m_dynamicsInfo.m_mass = mb->getBaseMass(); + serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction(); } else { - serverCmd.m_dynamicInfo.m_mass = mb->getLinkMass(linkIndex); - serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction(); + serverCmd.m_dynamicsInfo.m_mass = mb->getLinkMass(linkIndex); + serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction(); } hasStatus = true; } @@ -3982,7 +3982,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { b3Warning("The dynamic info requested is not available"); SharedMemoryStatus& serverCmd = serverStatusOut; - serverCmd.m_type = CMD_GET_DYNAMIC_INFO_FAILED; + serverCmd.m_type = CMD_GET_DYNAMICS_INFO_FAILED; hasStatus = true; } break; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index b798d896f..ac261af2d 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -106,14 +106,14 @@ struct BulletDataStreamArgs char m_bodyName[MAX_FILENAME_LENGTH]; }; -enum EnumResetDynamicInfoFlags +enum EnumResetDynamicsInfoFlags { - RESET_DYNAMIC_INFO_SET_MASS=1, - RESET_DYNAMIC_INFO_SET_COM=2, - RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION=4, + RESET_DYNAMICS_INFO_SET_MASS=1, + RESET_DYNAMICS_INFO_SET_COM=2, + RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION=4, }; -struct ResetDynamicInfoArgs +struct ResetDynamicsInfoArgs { int m_bodyUniqueId; int m_linkIndex; @@ -122,7 +122,7 @@ struct ResetDynamicInfoArgs double m_lateralFriction; }; -struct GetDynamicInfoArgs +struct GetDynamicsInfoArgs { int m_bodyUniqueId; int m_linkIndex; @@ -744,8 +744,8 @@ struct SharedMemoryCommand struct MjcfArgs m_mjcfArguments; struct FileArgs m_fileArguments; struct SdfRequestInfoArgs m_sdfRequestInfoArgs; - struct ResetDynamicInfoArgs m_resetDynamicInfoArgs; - struct GetDynamicInfoArgs m_getDynamicInfoArgs; + struct ResetDynamicsInfoArgs m_resetDynamicsInfoArgs; + struct GetDynamicsInfoArgs m_getDynamicsInfoArgs; struct InitPoseArgs m_initPoseArgs; struct SendPhysicsSimulationParameters m_physSimParamArgs; struct BulletDataStreamArgs m_dataStreamArguments; @@ -839,7 +839,7 @@ struct SharedMemoryStatus struct StateLoggingResultArgs m_stateLoggingResultArgs; struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs; struct b3ObjectArgs m_removeObjectArgs; - struct b3DynamicInfo m_dynamicInfo; + struct b3DynamicsInfo m_dynamicsInfo; }; }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 6a08a944a..925106392 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -56,8 +56,8 @@ enum EnumSharedMemoryClientCommand CMD_REQUEST_KEYBOARD_EVENTS_DATA, CMD_REQUEST_OPENGL_VISUALIZER_CAMERA, CMD_REMOVE_BODY, - CMD_RESET_DYNAMIC_INFO, - CMD_GET_DYNAMIC_INFO, + CMD_RESET_DYNAMICS_INFO, + CMD_GET_DYNAMICS_INFO, CMD_PROFILE_TIMING, //don't go beyond this command! CMD_MAX_CLIENT_COMMANDS, @@ -142,8 +142,8 @@ enum EnumSharedMemoryServerStatus CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED, CMD_REMOVE_BODY_COMPLETED, CMD_REMOVE_BODY_FAILED, - CMD_GET_DYNAMIC_INFO_COMPLETED, - CMD_GET_DYNAMIC_INFO_FAILED, + CMD_GET_DYNAMICS_INFO_COMPLETED, + CMD_GET_DYNAMICS_INFO_FAILED, //don't go beyond 'CMD_MAX_SERVER_COMMANDS! CMD_MAX_SERVER_COMMANDS }; @@ -223,7 +223,7 @@ struct b3BodyInfo const char* m_bodyName; // for btRigidBody, it does not have a base, but can still have a body name from urdf }; -struct b3DynamicInfo +struct b3DynamicsInfo { double m_mass; double m_localInertialPosition[3]; diff --git a/examples/pybullet/examples/reset_dynamic_info.py b/examples/pybullet/examples/reset_dynamic_info.py index 06f02ef36..ebf171275 100644 --- a/examples/pybullet/examples/reset_dynamic_info.py +++ b/examples/pybullet/examples/reset_dynamic_info.py @@ -3,21 +3,20 @@ import time import math p.connect(p.GUI) - -p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593]) +planeId = p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593]) p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2]) -p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4]) -p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1) -#p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0) +cubeId = p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4]) +p.resetDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1) +#p.resetDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0) p.setGravity(0,0,-10) p.setRealTimeSimulation(0) t=0 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) + p.resetDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01) + mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1) + mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1) print mass1,frictionCoeff1 print mass2,frictionCoeff2 time.sleep(.01) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index c68a58975..8e5b0b056 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -604,7 +604,7 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key return pylist; } -static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pybullet_resetDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds) { int bodyUniqueId = -1; int linkIndex = -2; @@ -627,17 +627,17 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj } { - b3SharedMemoryCommandHandle command = b3InitResetDynamicInfo(sm); + b3SharedMemoryCommandHandle command = b3InitResetDynamicsInfo(sm); b3SharedMemoryStatusHandle statusHandle; if (mass >= 0) { - b3ResetDynamicInfoSetMass(command, bodyUniqueId, linkIndex, mass); + b3ResetDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass); } if (lateralFriction >= 0) { - b3ResetDynamicInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction); + b3ResetDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction); } statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); @@ -647,7 +647,7 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj return Py_None; } -static PyObject* pybullet_getDynamicInfo(PyObject* self, PyObject* args, PyObject* keywds) +static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds) { { int bodyUniqueId = -1; @@ -673,33 +673,33 @@ static PyObject* pybullet_getDynamicInfo(PyObject* self, PyObject* args, PyObjec if (bodyUniqueId < 0) { - PyErr_SetString(SpamError, "getDynamicInfo failed; invalid bodyUniqueId"); + PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid bodyUniqueId"); return NULL; } if (linkIndex < -1) { - PyErr_SetString(SpamError, "getDynamicInfo failed; invalid linkIndex"); + PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid linkIndex"); return NULL; } - cmd_handle = b3GetDynamicInfoCommandInit(sm, bodyUniqueId, linkIndex); + cmd_handle = b3GetDynamicsInfoCommandInit(sm, bodyUniqueId, linkIndex); status_handle = b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); status_type = b3GetStatusType(status_handle); - if (status_type != CMD_GET_DYNAMIC_INFO_COMPLETED) + if (status_type != CMD_GET_DYNAMICS_INFO_COMPLETED) { - PyErr_SetString(SpamError, "getDynamicInfo failed; invalid return status"); + PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid return status"); return NULL; } - struct b3DynamicInfo info; - if (b3GetDynamicInfo(status_handle, &info)) + struct b3DynamicsInfo info; + if (b3GetDynamicsInfo(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; + PyObject* pyDynamicsInfo = PyTuple_New(2); + PyTuple_SetItem(pyDynamicsInfo, 0, PyFloat_FromDouble(info.m_mass)); + PyTuple_SetItem(pyDynamicsInfo, 1, PyFloat_FromDouble(info.m_lateralFrictionCoeff)); + return pyDynamicsInfo; } } } - PyErr_SetString(SpamError, "Couldn't get dynamic info"); + PyErr_SetString(SpamError, "Couldn't get dynamics info"); return NULL; } @@ -5639,11 +5639,11 @@ static PyMethodDef SpamMethods[] = { "Reset the state (position, velocity etc) for a joint on a body " "instantaneously, not through physics simulation."}, - {"resetDynamicInfo", (PyCFunction)pybullet_resetDynamicInfo, METH_VARARGS | METH_KEYWORDS, - "Reset dynamic information such as mass, lateral friction coefficient."}, + {"resetDynamicsInfo", (PyCFunction)pybullet_resetDynamicsInfo, METH_VARARGS | METH_KEYWORDS, + "Reset dynamics information such as mass, lateral friction coefficient."}, - {"getDynamicInfo", (PyCFunction)pybullet_getDynamicInfo, METH_VARARGS | METH_KEYWORDS, - "Get dynamic information such as mass, lateral friction coefficient."}, + {"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS, + "Get dynamics information such as mass, lateral friction coefficient."}, {"setJointMotorControl", (PyCFunction)pybullet_setJointMotorControl, METH_VARARGS, "This (obsolete) method cannot select non-zero physicsClientId, use setJointMotorControl2 instead."