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add pybullet.changeConstraint / b3InitChangeUserConstraintCommand/ b3InitChangeUserConstraintSetPivotInB /b3InitChangeUserConstraintSetFrameInB command, to change an existing user constraint.

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add constraint.py example.
allow pybullet.createConstraint to create user constraint without a child body ('fixed' to the world)
This commit is contained in:
Erwin Coumans
2017-01-12 10:30:46 -08:00
parent 1c79798583
commit 9aa5a839d5
10 changed files with 186 additions and 14 deletions
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50
examples/pybullet/pybullet.c
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@@ -3028,6 +3028,51 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
return Py_None;
}
static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject *keywds)
{
static char *kwlist[] = { "userConstraintUniqueId","jointChildPivot", "jointChildFrameOrientation", "physicsClientId", NULL};
int userConstraintUniqueId=-1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
PyObject* jointChildPivotObj=0;
PyObject* jointChildFrameOrnObj=0;
double jointChildPivot[3];
double jointChildFrameOrn[4];
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOi", kwlist,&userConstraintUniqueId,&jointChildPivotObj, &jointChildFrameOrnObj,&physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
commandHandle = b3InitChangeUserConstraintCommand(sm,userConstraintUniqueId);
if (pybullet_internalSetVectord(jointChildPivotObj,jointChildPivot))
{
b3InitChangeUserConstraintSetPivotInB(commandHandle, jointChildPivot);
}
if (pybullet_internalSetVector4d(jointChildFrameOrnObj,jointChildFrameOrn))
{
b3InitChangeUserConstraintSetFrameInB(commandHandle, jointChildFrameOrn);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
Py_INCREF(Py_None);
return Py_None;
};
static PyObject* pybullet_removeUserConstraint(PyObject* self, PyObject* args, PyObject *keywds)
{
static char *kwlist[] = { "userConstraintUniqueId","physicsClientId", NULL};
@@ -4372,6 +4417,11 @@ static PyMethodDef SpamMethods[] = {
"Create a constraint between two bodies. Returns a (int) unique id, if successfull."
},
{"changeConstraint", (PyCFunction)pybullet_changeUserConstraint, METH_VARARGS | METH_KEYWORDS,
"Change some parameters of an existing constraint, such as the child pivot or child frame orientation, using its unique id."
},
{"removeConstraint", (PyCFunction)pybullet_removeUserConstraint, METH_VARARGS | METH_KEYWORDS,
"Remove a constraint using its unique id."
},