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Change dynamic to dynamics in dynamics info.

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This commit is contained in:
yunfeibai
2017-05-09 10:31:28 -07:00
parent 92de4ecd31
commit 98654a0cb4
9 changed files with 93 additions and 94 deletions
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15
examples/pybullet/examples/reset_dynamic_info.py
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@@ -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)

42
examples/pybullet/pybullet.c
View File

@@ -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."