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allow to provide rayCastBatch in local 'from'/'to' with a parent/link index, b3RaycastBatchSetParentObject

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If parentObjectUniqueId provided, convert local from/to into world space coordinates
AddUserDebugLins: don't block when replacing an item
Fix examples/pybullet/examples/inverse_kinematics.py
This commit is contained in:
erwincoumans
2018-10-10 23:31:50 -07:00
parent 32b5c88d4b
commit bb305c6ebc
7 changed files with 104 additions and 9 deletions
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2
examples/pybullet/examples/inverse_kinematics.py
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@@ -48,7 +48,7 @@ p.setRealTimeSimulation(useRealTimeSimulation)
trailDuration = 15
while 1:
p.getCameraImage(320,200, flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX, renderer=p.ER_HARDWARE_OPENGL_RENDERER)
p.getCameraImage(320,200, flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX, renderer=p.ER_BULLET_HARDWARE_OPENGL)
if (useRealTimeSimulation):
dt = datetime.now()
t = (dt.second/60.)*2.*math.pi

15
examples/pybullet/pybullet.c
View File

@@ -4742,12 +4742,14 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
b3PhysicsClientHandle sm = 0;
int sizeFrom = 0;
int sizeTo = 0;
static char* kwlist[] = {"rayFromPositions", "rayToPositions", "numThreads", "physicsClientId", NULL};
int parentObjectUniqueId = -1;
int parentLinkIndex = -1;
static char* kwlist[] = {"rayFromPositions", "rayToPositions", "numThreads", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL};
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|ii", kwlist,
&rayFromObjList, &rayToObjList, &numThreads, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|iiii", kwlist,
&rayFromObjList, &rayToObjList, &numThreads, &parentObjectUniqueId, &parentLinkIndex, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -4831,6 +4833,11 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
}
}
if (parentObjectUniqueId>=0)
{
b3RaycastBatchSetParentObject(commandHandle, parentObjectUniqueId,parentLinkIndex);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED)