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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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48
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1214,65 +1214,65 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
return cl->getJointInfo(bodyIndex, jointIndex, *info); 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; PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl); b3Assert(cl);
b3Assert(cl->canSubmitCommand()); b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command); b3Assert(command);
command->m_type = CMD_GET_DYNAMIC_INFO; command->m_type = CMD_GET_DYNAMICS_INFO;
command->m_getDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId; command->m_getDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_getDynamicInfoArgs.m_linkIndex = linkIndex; command->m_getDynamicsInfoArgs.m_linkIndex = linkIndex;
return (b3SharedMemoryCommandHandle) command; return (b3SharedMemoryCommandHandle) command;
} }
int b3GetDynamicInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicInfo* info) int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicsInfo* info)
{ {
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle; const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
const b3DynamicInfo &dynamicInfo = status->m_dynamicInfo; const b3DynamicsInfo &dynamicsInfo = status->m_dynamicsInfo;
btAssert(status->m_type == CMD_GET_DYNAMIC_INFO); btAssert(status->m_type == CMD_GET_DYNAMICS_INFO);
if (status->m_type != CMD_GET_DYNAMIC_INFO_COMPLETED) if (status->m_type != CMD_GET_DYNAMICS_INFO_COMPLETED)
return false; return false;
info->m_mass = dynamicInfo.m_mass; info->m_mass = dynamicsInfo.m_mass;
info->m_lateralFrictionCoeff = dynamicInfo.m_lateralFrictionCoeff; info->m_lateralFrictionCoeff = dynamicsInfo.m_lateralFrictionCoeff;
return true; return true;
} }
b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient) b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient)
{ {
PhysicsClient* cl = (PhysicsClient* ) physClient; PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl); b3Assert(cl);
b3Assert(cl->canSubmitCommand()); b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command); b3Assert(command);
command->m_type = CMD_RESET_DYNAMIC_INFO; command->m_type = CMD_RESET_DYNAMICS_INFO;
command->m_updateFlags = 0; command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command; 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; 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); b3Assert(mass > 0);
command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId; command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex; command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicInfoArgs.m_mass = mass; command->m_resetDynamicsInfoArgs.m_mass = mass;
command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_MASS; command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_MASS;
return 0; 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; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO); b3Assert(command->m_type == CMD_RESET_DYNAMICS_INFO);
command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId; command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex; command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicInfoArgs.m_lateralFriction = lateralFriction; command->m_resetDynamicsInfoArgs.m_lateralFriction = lateralFriction;
command->m_updateFlags |= RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION; command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION;
return 0; return 0;
} }

10
examples/SharedMemory/PhysicsClientC_API.h
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@@ -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 ///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); 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 ///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); b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient);
int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass); int b3ResetDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
int b3ResetDynamicInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction); 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); b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);

2
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -260,7 +260,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
case CMD_LOAD_SDF: case CMD_LOAD_SDF:
{ {
#ifdef BT_DEBUG #ifdef BT_DEBUG
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.sdf"); b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");
#else #else
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kitchens/1.sdf");//two_cubes.sdf");//kitchens/1.sdf");//kuka_iiwa/model.sdf"); b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kitchens/1.sdf");//two_cubes.sdf");//kitchens/1.sdf");//kuka_iiwa/model.sdf");
#endif #endif

4
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -1039,11 +1039,11 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Removing body failed"); b3Warning("Removing body failed");
break; break;
} }
case CMD_GET_DYNAMIC_INFO_COMPLETED: case CMD_GET_DYNAMICS_INFO_COMPLETED:
{ {
break; break;
} }
case CMD_GET_DYNAMIC_INFO_FAILED: case CMD_GET_DYNAMICS_INFO_FAILED:
{ {
b3Warning("Request dynamic info failed"); b3Warning("Request dynamic info failed");
break; break;

38
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3898,15 +3898,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break; 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 bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex; int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex;
double mass = clientCmd.m_resetDynamicInfoArgs.m_mass; double mass = clientCmd.m_resetDynamicsInfoArgs.m_mass;
btAssert(bodyUniqueId >= 0); btAssert(bodyUniqueId >= 0);
btAssert(linkIndex >= -1); 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 bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_resetDynamicInfoArgs.m_linkIndex; int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex;
double lateralFriction = clientCmd.m_resetDynamicInfoArgs.m_lateralFriction; double lateralFriction = clientCmd.m_resetDynamicsInfoArgs.m_lateralFriction;
btAssert(bodyUniqueId >= 0); btAssert(bodyUniqueId >= 0);
btAssert(linkIndex >= -1); btAssert(linkIndex >= -1);
@@ -3955,26 +3955,26 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break; break;
}; };
case CMD_GET_DYNAMIC_INFO: case CMD_GET_DYNAMICS_INFO:
{ {
int bodyUniqueId = clientCmd.m_getDynamicInfoArgs.m_bodyUniqueId; int bodyUniqueId = clientCmd.m_getDynamicsInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_getDynamicInfoArgs.m_linkIndex; int linkIndex = clientCmd.m_getDynamicsInfoArgs.m_linkIndex;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody) if (body && body->m_multiBody)
{ {
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_GET_DYNAMIC_INFO_COMPLETED; serverCmd.m_type = CMD_GET_DYNAMICS_INFO_COMPLETED;
btMultiBody* mb = body->m_multiBody; btMultiBody* mb = body->m_multiBody;
if (linkIndex == -1) if (linkIndex == -1)
{ {
serverCmd.m_dynamicInfo.m_mass = mb->getBaseMass(); serverCmd.m_dynamicsInfo.m_mass = mb->getBaseMass();
serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction(); serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getBaseCollider()->getFriction();
} }
else else
{ {
serverCmd.m_dynamicInfo.m_mass = mb->getLinkMass(linkIndex); serverCmd.m_dynamicsInfo.m_mass = mb->getLinkMass(linkIndex);
serverCmd.m_dynamicInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction(); serverCmd.m_dynamicsInfo.m_lateralFrictionCoeff = mb->getLinkCollider(linkIndex)->getFriction();
} }
hasStatus = true; hasStatus = true;
} }
@@ -3982,7 +3982,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{ {
b3Warning("The dynamic info requested is not available"); b3Warning("The dynamic info requested is not available");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_GET_DYNAMIC_INFO_FAILED; serverCmd.m_type = CMD_GET_DYNAMICS_INFO_FAILED;
hasStatus = true; hasStatus = true;
} }
break; break;

18
examples/SharedMemory/SharedMemoryCommands.h
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@@ -106,14 +106,14 @@ struct BulletDataStreamArgs
char m_bodyName[MAX_FILENAME_LENGTH]; char m_bodyName[MAX_FILENAME_LENGTH];
}; };
enum EnumResetDynamicInfoFlags enum EnumResetDynamicsInfoFlags
{ {
RESET_DYNAMIC_INFO_SET_MASS=1, RESET_DYNAMICS_INFO_SET_MASS=1,
RESET_DYNAMIC_INFO_SET_COM=2, RESET_DYNAMICS_INFO_SET_COM=2,
RESET_DYNAMIC_INFO_SET_LATERAL_FRICTION=4, RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION=4,
}; };
struct ResetDynamicInfoArgs struct ResetDynamicsInfoArgs
{ {
int m_bodyUniqueId; int m_bodyUniqueId;
int m_linkIndex; int m_linkIndex;
@@ -122,7 +122,7 @@ struct ResetDynamicInfoArgs
double m_lateralFriction; double m_lateralFriction;
}; };
struct GetDynamicInfoArgs struct GetDynamicsInfoArgs
{ {
int m_bodyUniqueId; int m_bodyUniqueId;
int m_linkIndex; int m_linkIndex;
@@ -744,8 +744,8 @@ struct SharedMemoryCommand
struct MjcfArgs m_mjcfArguments; struct MjcfArgs m_mjcfArguments;
struct FileArgs m_fileArguments; struct FileArgs m_fileArguments;
struct SdfRequestInfoArgs m_sdfRequestInfoArgs; struct SdfRequestInfoArgs m_sdfRequestInfoArgs;
struct ResetDynamicInfoArgs m_resetDynamicInfoArgs; struct ResetDynamicsInfoArgs m_resetDynamicsInfoArgs;
struct GetDynamicInfoArgs m_getDynamicInfoArgs; struct GetDynamicsInfoArgs m_getDynamicsInfoArgs;
struct InitPoseArgs m_initPoseArgs; struct InitPoseArgs m_initPoseArgs;
struct SendPhysicsSimulationParameters m_physSimParamArgs; struct SendPhysicsSimulationParameters m_physSimParamArgs;
struct BulletDataStreamArgs m_dataStreamArguments; struct BulletDataStreamArgs m_dataStreamArguments;
@@ -839,7 +839,7 @@ struct SharedMemoryStatus
struct StateLoggingResultArgs m_stateLoggingResultArgs; struct StateLoggingResultArgs m_stateLoggingResultArgs;
struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs; struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
struct b3ObjectArgs m_removeObjectArgs; struct b3ObjectArgs m_removeObjectArgs;
struct b3DynamicInfo m_dynamicInfo; struct b3DynamicsInfo m_dynamicsInfo;
}; };
}; };

10
examples/SharedMemory/SharedMemoryPublic.h
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@@ -56,8 +56,8 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_KEYBOARD_EVENTS_DATA, CMD_REQUEST_KEYBOARD_EVENTS_DATA,
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA, CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
CMD_REMOVE_BODY, CMD_REMOVE_BODY,
CMD_RESET_DYNAMIC_INFO, CMD_RESET_DYNAMICS_INFO,
CMD_GET_DYNAMIC_INFO, CMD_GET_DYNAMICS_INFO,
CMD_PROFILE_TIMING, CMD_PROFILE_TIMING,
//don't go beyond this command! //don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS, CMD_MAX_CLIENT_COMMANDS,
@@ -142,8 +142,8 @@ enum EnumSharedMemoryServerStatus
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED, CMD_REQUEST_OPENGL_VISUALIZER_CAMERA_COMPLETED,
CMD_REMOVE_BODY_COMPLETED, CMD_REMOVE_BODY_COMPLETED,
CMD_REMOVE_BODY_FAILED, CMD_REMOVE_BODY_FAILED,
CMD_GET_DYNAMIC_INFO_COMPLETED, CMD_GET_DYNAMICS_INFO_COMPLETED,
CMD_GET_DYNAMIC_INFO_FAILED, CMD_GET_DYNAMICS_INFO_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS! //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
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 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_mass;
double m_localInertialPosition[3]; double m_localInertialPosition[3];

15
examples/pybullet/examples/reset_dynamic_info.py
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@@ -3,21 +3,20 @@ import time
import math import math
p.connect(p.GUI) p.connect(p.GUI)
planeId = p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
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=[0.25882,0,0,0.96593],basePosition=[0,0,2])
p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4]) cubeId = p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1) p.resetDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
#p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0) #p.resetDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
p.setGravity(0,0,-10) p.setGravity(0,0,-10)
p.setRealTimeSimulation(0) p.setRealTimeSimulation(0)
t=0 t=0
while 1: while 1:
t=t+1 t=t+1
if t > 400: if t > 400:
p.resetDynamicInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01) p.resetDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
mass1,frictionCoeff1=p.getDynamicInfo(bodyUniqueId=0,linkIndex=-1) mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1)
mass2,frictionCoeff2=p.getDynamicInfo(bodyUniqueId=2,linkIndex=-1) mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1)
print mass1,frictionCoeff1 print mass1,frictionCoeff1
print mass2,frictionCoeff2 print mass2,frictionCoeff2
time.sleep(.01) 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; 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 bodyUniqueId = -1;
int linkIndex = -2; 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; b3SharedMemoryStatusHandle statusHandle;
if (mass >= 0) if (mass >= 0)
{ {
b3ResetDynamicInfoSetMass(command, bodyUniqueId, linkIndex, mass); b3ResetDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
} }
if (lateralFriction >= 0) if (lateralFriction >= 0)
{ {
b3ResetDynamicInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction); b3ResetDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
} }
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -647,7 +647,7 @@ static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObj
return Py_None; 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; int bodyUniqueId = -1;
@@ -673,33 +673,33 @@ static PyObject* pybullet_getDynamicInfo(PyObject* self, PyObject* args, PyObjec
if (bodyUniqueId < 0) if (bodyUniqueId < 0)
{ {
PyErr_SetString(SpamError, "getDynamicInfo failed; invalid bodyUniqueId"); PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid bodyUniqueId");
return NULL; return NULL;
} }
if (linkIndex < -1) if (linkIndex < -1)
{ {
PyErr_SetString(SpamError, "getDynamicInfo failed; invalid linkIndex"); PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid linkIndex");
return NULL; return NULL;
} }
cmd_handle = b3GetDynamicInfoCommandInit(sm, bodyUniqueId, linkIndex); cmd_handle = b3GetDynamicsInfoCommandInit(sm, bodyUniqueId, linkIndex);
status_handle = b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); status_handle = b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_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; return NULL;
} }
struct b3DynamicInfo info; struct b3DynamicsInfo info;
if (b3GetDynamicInfo(status_handle, &info)) if (b3GetDynamicsInfo(status_handle, &info))
{ {
PyObject* pyDynamicInfo = PyTuple_New(2); PyObject* pyDynamicsInfo = PyTuple_New(2);
PyTuple_SetItem(pyDynamicInfo, 0, PyFloat_FromDouble(info.m_mass)); PyTuple_SetItem(pyDynamicsInfo, 0, PyFloat_FromDouble(info.m_mass));
PyTuple_SetItem(pyDynamicInfo, 1, PyFloat_FromDouble(info.m_lateralFrictionCoeff)); PyTuple_SetItem(pyDynamicsInfo, 1, PyFloat_FromDouble(info.m_lateralFrictionCoeff));
return pyDynamicInfo; return pyDynamicsInfo;
} }
} }
} }
PyErr_SetString(SpamError, "Couldn't get dynamic info"); PyErr_SetString(SpamError, "Couldn't get dynamics info");
return NULL; return NULL;
} }
@@ -5639,11 +5639,11 @@ static PyMethodDef SpamMethods[] = {
"Reset the state (position, velocity etc) for a joint on a body " "Reset the state (position, velocity etc) for a joint on a body "
"instantaneously, not through physics simulation."}, "instantaneously, not through physics simulation."},
{"resetDynamicInfo", (PyCFunction)pybullet_resetDynamicInfo, METH_VARARGS | METH_KEYWORDS, {"resetDynamicsInfo", (PyCFunction)pybullet_resetDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"Reset dynamic information such as mass, lateral friction coefficient."}, "Reset dynamics information such as mass, lateral friction coefficient."},
{"getDynamicInfo", (PyCFunction)pybullet_getDynamicInfo, METH_VARARGS | METH_KEYWORDS, {"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"Get dynamic information such as mass, lateral friction coefficient."}, "Get dynamics information such as mass, lateral friction coefficient."},
{"setJointMotorControl", (PyCFunction)pybullet_setJointMotorControl, METH_VARARGS, {"setJointMotorControl", (PyCFunction)pybullet_setJointMotorControl, METH_VARARGS,
"This (obsolete) method cannot select non-zero physicsClientId, use setJointMotorControl2 instead." "This (obsolete) method cannot select non-zero physicsClientId, use setJointMotorControl2 instead."