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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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erwincoumans
2017-02-03 21:05:40 -08:00
parent e1cfe94ac9 257b7b89aa
commit b342f08f86
2 changed files with 26 additions and 13 deletions
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examples/pybullet/pybullet.c
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@@ -2668,7 +2668,7 @@ static PyObject* pybullet_rayTest(PyObject* self, PyObject* args, PyObject *keyw
return Py_None; return Py_None;
} }
static PyObject* pybullet_getMatrixFromQuaterion(PyObject* self, PyObject* args) static PyObject* pybullet_getMatrixFromQuaternion(PyObject* self, PyObject* args)
{ {
PyObject* quatObj; PyObject* quatObj;
double quat[4]; double quat[4];
@@ -2907,7 +2907,7 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
pyResultList = PyTuple_New(visualShapeInfo.m_numVisualShapes); pyResultList = PyTuple_New(visualShapeInfo.m_numVisualShapes);
for (i = 0; i < visualShapeInfo.m_numVisualShapes; i++) for (i = 0; i < visualShapeInfo.m_numVisualShapes; i++)
{ {
PyObject* visualShapeObList = PyTuple_New(7); PyObject* visualShapeObList = PyTuple_New(8);
PyObject* item; PyObject* item;
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_objectUniqueId); item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_objectUniqueId);
PyTuple_SetItem(visualShapeObList, 0, item); PyTuple_SetItem(visualShapeObList, 0, item);
@@ -2920,11 +2920,11 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
{ {
PyObject* vec = PyTuple_New(3); PyObject* vec = PyTuple_New(3);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_dimensions[0]); item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_dimensions[0]);
PyTuple_SetItem(vec, 0, item); PyTuple_SetItem(vec, 0, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_dimensions[1]); item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_dimensions[1]);
PyTuple_SetItem(vec, 1, item); PyTuple_SetItem(vec, 1, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_dimensions[2]); item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_dimensions[2]);
PyTuple_SetItem(vec, 2, item); PyTuple_SetItem(vec, 2, item);
PyTuple_SetItem(visualShapeObList, 3, vec); PyTuple_SetItem(visualShapeObList, 3, vec);
} }
@@ -2934,28 +2934,41 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
{ {
PyObject* vec = PyTuple_New(3); PyObject* vec = PyTuple_New(3);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[0]); item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[0]);
PyTuple_SetItem(vec, 0, item); PyTuple_SetItem(vec, 0, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[1]); item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[1]);
PyTuple_SetItem(vec, 1, item); PyTuple_SetItem(vec, 1, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[2]); item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[2]);
PyTuple_SetItem(vec, 2, item); PyTuple_SetItem(vec, 2, item);
PyTuple_SetItem(visualShapeObList, 5, vec); PyTuple_SetItem(visualShapeObList, 5, vec);
} }
{ {
PyObject* vec = PyTuple_New(4); PyObject* vec = PyTuple_New(4);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[3]); item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[3]);
PyTuple_SetItem(vec, 0, item); PyTuple_SetItem(vec, 0, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[4]); item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[4]);
PyTuple_SetItem(vec, 1, item); PyTuple_SetItem(vec, 1, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[5]); item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[5]);
PyTuple_SetItem(vec, 2, item); PyTuple_SetItem(vec, 2, item);
item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[6]); item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[6]);
PyTuple_SetItem(vec, 3, item); PyTuple_SetItem(vec, 3, item);
PyTuple_SetItem(visualShapeObList, 6, vec); PyTuple_SetItem(visualShapeObList, 6, vec);
} }
{
PyObject* rgba = PyTuple_New(4);
item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_rgbaColor[0]);
PyTuple_SetItem(rgba, 0, item);
item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_rgbaColor[1]);
PyTuple_SetItem(rgba, 1, item);
item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_rgbaColor[2]);
PyTuple_SetItem(rgba, 2, item);
item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_rgbaColor[3]);
PyTuple_SetItem(rgba, 3, item);
PyTuple_SetItem(visualShapeObList, 7, rgba);
}
PyTuple_SetItem(pyResultList, i, visualShapeObList); PyTuple_SetItem(pyResultList, i, visualShapeObList);
} }
@@ -4905,7 +4918,7 @@ static PyMethodDef SpamMethods[] = {
"Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF " "Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF "
"convention"}, "convention"},
{"getMatrixFromQuaterion", pybullet_getMatrixFromQuaterion,METH_VARARGS, {"getMatrixFromQuaternion", pybullet_getMatrixFromQuaternion,METH_VARARGS,
"Compute the 3x3 matrix from a quaternion, as a list of 9 values (row-major)"}, "Compute the 3x3 matrix from a quaternion, as a list of 9 values (row-major)"},
{"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS| METH_KEYWORDS, {"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS| METH_KEYWORDS,