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

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This commit is contained in:
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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28
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1240,39 +1240,39 @@ int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3Dynamics
return true; return true;
} }
b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient) b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(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_DYNAMICS_INFO; command->m_type = CMD_CHANGE_DYNAMICS_INFO;
command->m_updateFlags = 0; command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command; return (b3SharedMemoryCommandHandle) command;
} }
int b3ResetDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass) int b3ChangeDynamicsInfoSetMass(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_DYNAMICS_INFO); b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
b3Assert(mass > 0); b3Assert(mass > 0);
command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId; command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex; command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicsInfoArgs.m_mass = mass; command->m_changeDynamicsInfoArgs.m_mass = mass;
command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_MASS; command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_MASS;
return 0; return 0;
} }
int b3ResetDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction) int b3ChangeDynamicsInfoSetLateralFriction(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_DYNAMICS_INFO); b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_resetDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId; command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetDynamicsInfoArgs.m_linkIndex = linkIndex; command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_resetDynamicsInfoArgs.m_lateralFriction = lateralFriction; command->m_changeDynamicsInfoArgs.m_lateralFriction = lateralFriction;
command->m_updateFlags |= RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION; command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION;
return 0; return 0;
} }

8
examples/SharedMemory/PhysicsClientC_API.h
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@@ -78,12 +78,12 @@ int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex);
int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info); int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info);
b3SharedMemoryCommandHandle b3GetDynamicsInfoCommandInit(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 dynamics information. See b3DynamicsInfo in SharedMemoryPublic.h
int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicsInfo* info); int b3GetDynamicsInfo(b3SharedMemoryStatusHandle statusHandle, struct b3DynamicsInfo* info);
b3SharedMemoryCommandHandle b3InitResetDynamicsInfo(b3PhysicsClientHandle physClient); b3SharedMemoryCommandHandle b3InitChangeDynamicsInfo(b3PhysicsClientHandle physClient);
int b3ResetDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass); int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double mass);
int b3ResetDynamicsInfoSetLateralFriction(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double lateralFriction); int b3ChangeDynamicsInfoSetLateralFriction(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/PhysicsClientSharedMemory.cpp
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@@ -1045,7 +1045,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
} }
case CMD_GET_DYNAMICS_INFO_FAILED: case CMD_GET_DYNAMICS_INFO_FAILED:
{ {
b3Warning("Request dynamic info failed"); b3Warning("Request dynamics info failed");
break; break;
} }
default: { default: {

20
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3898,15 +3898,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break; break;
}; };
case CMD_RESET_DYNAMICS_INFO: case CMD_CHANGE_DYNAMICS_INFO:
{ {
BT_PROFILE("CMD_RESET_DYNAMICS_INFO"); BT_PROFILE("CMD_CHANGE_DYNAMICS_INFO");
if (clientCmd.m_updateFlags & RESET_DYNAMICS_INFO_SET_MASS) if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
{ {
int bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId; int bodyUniqueId = clientCmd.m_changeDynamicsInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex; int linkIndex = clientCmd.m_changeDynamicsInfoArgs.m_linkIndex;
double mass = clientCmd.m_resetDynamicsInfoArgs.m_mass; double mass = clientCmd.m_changeDynamicsInfoArgs.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_DYNAMICS_INFO_SET_LATERAL_FRICTION) if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
{ {
int bodyUniqueId = clientCmd.m_resetDynamicsInfoArgs.m_bodyUniqueId; int bodyUniqueId = clientCmd.m_changeDynamicsInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_resetDynamicsInfoArgs.m_linkIndex; int linkIndex = clientCmd.m_changeDynamicsInfoArgs.m_linkIndex;
double lateralFriction = clientCmd.m_resetDynamicsInfoArgs.m_lateralFriction; double lateralFriction = clientCmd.m_changeDynamicsInfoArgs.m_lateralFriction;
btAssert(bodyUniqueId >= 0); btAssert(bodyUniqueId >= 0);
btAssert(linkIndex >= -1); btAssert(linkIndex >= -1);

12
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 EnumResetDynamicsInfoFlags enum EnumChangeDynamicsInfoFlags
{ {
RESET_DYNAMICS_INFO_SET_MASS=1, CHANGE_DYNAMICS_INFO_SET_MASS=1,
RESET_DYNAMICS_INFO_SET_COM=2, CHANGE_DYNAMICS_INFO_SET_COM=2,
RESET_DYNAMICS_INFO_SET_LATERAL_FRICTION=4, CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION=4,
}; };
struct ResetDynamicsInfoArgs struct ChangeDynamicsInfoArgs
{ {
int m_bodyUniqueId; int m_bodyUniqueId;
int m_linkIndex; int m_linkIndex;
@@ -744,7 +744,7 @@ 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 ResetDynamicsInfoArgs m_resetDynamicsInfoArgs; struct ChangeDynamicsInfoArgs m_changeDynamicsInfoArgs;
struct GetDynamicsInfoArgs m_getDynamicsInfoArgs; struct GetDynamicsInfoArgs m_getDynamicsInfoArgs;
struct InitPoseArgs m_initPoseArgs; struct InitPoseArgs m_initPoseArgs;
struct SendPhysicsSimulationParameters m_physSimParamArgs; struct SendPhysicsSimulationParameters m_physSimParamArgs;

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -56,7 +56,7 @@ 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_DYNAMICS_INFO, CMD_CHANGE_DYNAMICS_INFO,
CMD_GET_DYNAMICS_INFO, CMD_GET_DYNAMICS_INFO,
CMD_PROFILE_TIMING, CMD_PROFILE_TIMING,
//don't go beyond this command! //don't go beyond this command!

6
examples/pybullet/examples/reset_dynamic_info.py
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@@ -6,15 +6,15 @@ p.connect(p.GUI)
planeId = 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=[0.25882,0,0,0.96593],basePosition=[0,0,2])
cubeId = 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.resetDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1) p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
#p.resetDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0) #p.changeDynamicsInfo(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.resetDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01) p.changeDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1) mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1)
mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1) mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1)
print mass1,frictionCoeff1 print mass1,frictionCoeff1

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; 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 bodyUniqueId = -1;
int linkIndex = -2; 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; b3SharedMemoryStatusHandle statusHandle;
if (mass >= 0) if (mass >= 0)
{ {
b3ResetDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass); b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
} }
if (lateralFriction >= 0) if (lateralFriction >= 0)
{ {
b3ResetDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction); b3ChangeDynamicsInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
} }
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -5639,8 +5639,8 @@ 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."},
{"resetDynamicsInfo", (PyCFunction)pybullet_resetDynamicsInfo, METH_VARARGS | METH_KEYWORDS, {"changeDynamicsInfo", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"Reset dynamics information such as mass, lateral friction coefficient."}, "change dynamics information such as mass, lateral friction coefficient."},
{"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS, {"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"Get dynamics information such as mass, lateral friction coefficient."}, "Get dynamics information such as mass, lateral friction coefficient."},