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Use "change" instead of "reset" for changing dynamics info.

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yunfeibai
2017-05-09 10:44:33 -07:00
parent 98654a0cb4
commit a587d4fec4
8 changed files with 45 additions and 45 deletions
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12
examples/pybullet/pybullet.c
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@@ -604,7 +604,7 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
return pylist;
}
static PyObject* pybullet_resetDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds)
static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyObject* keywds)
{
int bodyUniqueId = -1;
int linkIndex = -2;
@@ -627,17 +627,17 @@ static PyObject* pybullet_resetDynamicsInfo(PyObject* self, PyObject* args, PyOb
}
{
b3SharedMemoryCommandHandle command = b3InitResetDynamicsInfo(sm);
b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(sm);
b3SharedMemoryStatusHandle statusHandle;
if (mass >= 0)
{
b3ResetDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
}
if (lateralFriction >= 0)
{
b3ResetDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
b3ChangeDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -5639,8 +5639,8 @@ static PyMethodDef SpamMethods[] = {
"Reset the state (position, velocity etc) for a joint on a body "
"instantaneously, not through physics simulation."},
{"resetDynamicsInfo", (PyCFunction)pybullet_resetDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"Reset dynamics information such as mass, lateral friction coefficient."},
{"changeDynamicsInfo", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"change dynamics information such as mass, lateral friction coefficient."},
{"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"Get dynamics information such as mass, lateral friction coefficient."},