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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2017-05-04 10:51:42 -07:00
parent 4602fbba34 87a24dba84
commit a7d08ca9d7
27 changed files with 707 additions and 10 deletions
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78
examples/pybullet/pybullet.c
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@@ -604,6 +604,49 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
return pylist;
}
static PyObject* pybullet_resetDynamicInfo(PyObject* self, PyObject* args, PyObject* keywds)
{
int bodyUniqueId = -1;
int linkIndex = -2;
double mass = -1;
double lateralFriction = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryCommandHandle command = b3InitResetDynamicInfo(sm);
b3SharedMemoryStatusHandle statusHandle;
if (mass >= 0)
{
b3ResetDynamicInfoSetMass(command, bodyUniqueId, linkIndex, mass);
}
if (lateralFriction >= 0)
{
b3ResetDynamicInfoSetLateralFriction(command, bodyUniqueId, linkIndex, lateralFriction);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject* keywds)
{
double fixedTimeStep = -1;
@@ -1843,6 +1886,36 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
return NULL;
}
static PyObject* pybullet_getConstraintUniqueId(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int serialIndex = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"serialIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &serialIndex, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
int userConstraintId = -1;
userConstraintId = b3GetUserConstraintId(sm, serialIndex);
#if PY_MAJOR_VERSION >= 3
return PyLong_FromLong(userConstraintId);
#else
return PyInt_FromLong(userConstraintId);
#endif
}
}
static PyObject* pybullet_getNumConstraints(PyObject* self, PyObject* args, PyObject* keywds)
{
int numConstraints = 0;
@@ -5430,7 +5503,7 @@ static PyMethodDef SpamMethods[] = {
{"getConstraintInfo", (PyCFunction)pybullet_getConstraintInfo, METH_VARARGS | METH_KEYWORDS,
"Get the user-created constraint info, given a constraint unique id."},
{"getConstraintUniqueId", (PyCFunction)pybullet_getBodyUniqueId, METH_VARARGS | METH_KEYWORDS,
{"getConstraintUniqueId", (PyCFunction)pybullet_getConstraintUniqueId, METH_VARARGS | METH_KEYWORDS,
"Get the unique id of the constraint, given a integer index in range [0.. number of constraints)."},
{"getBasePositionAndOrientation", (PyCFunction)pybullet_getBasePositionAndOrientation,
@@ -5472,6 +5545,9 @@ static PyMethodDef SpamMethods[] = {
{"resetJointState", (PyCFunction)pybullet_resetJointState, METH_VARARGS | METH_KEYWORDS,
"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."},
{"setJointMotorControl", (PyCFunction)pybullet_setJointMotorControl, METH_VARARGS,
"This (obsolete) method cannot select non-zero physicsClientId, use setJointMotorControl2 instead."