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add PyBullet.rotateVector method

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add missing walk humanoid3d_walk.txt
This commit is contained in:
Erwin Coumans
2018-11-19 10:10:33 -08:00
parent 8c0b4d9e12
commit bded2968ea
4 changed files with 108 additions and 0 deletions
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52
examples/pybullet/pybullet.c
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@@ -8808,6 +8808,53 @@ static PyObject* pybullet_invertTransform(PyObject* self,
return NULL;
}
static PyObject* pybullet_rotateVector(PyObject* self, PyObject* args, PyObject* keywds)
{
PyObject* quatObj;
PyObject* vectorObj;
double quat[4];
double vec[3];
int physicsClientId = 0;
int hasQuat = 0;
int hasVec = 0;
static char* kwlist[] = { "quaternion", "vector", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatObj, &vectorObj, &physicsClientId))
{
return NULL;
}
if (quatObj)
{
hasQuat = pybullet_internalSetVector4d(quatObj, quat);
}
if (vectorObj)
{
hasVec = pybullet_internalSetVectord(vectorObj, vec);
}
if (hasQuat && hasVec)
{
double vecOut[3];
b3RotateVector(quat, vec, vecOut);
{
PyObject* pylist;
int i;
pylist = PyTuple_New(3);
for (i = 0; i < 3; i++)
PyTuple_SetItem(pylist, i, PyFloat_FromDouble(vecOut[i]));
return pylist;
}
}
else
{
PyErr_SetString(SpamError, "Require quaternion with 4 components [x,y,z,w] and a vector [x,y,z].");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{
@@ -10315,6 +10362,11 @@ static PyMethodDef SpamMethods[] = {
{ "calculateVelocityQuaternion", (PyCFunction)pybullet_calculateVelocityQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the angular velocity given start and end quaternion and delta time." },
{ "rotateVector", (PyCFunction)pybullet_rotateVector, METH_VARARGS | METH_KEYWORDS,
"Rotate a vector using a quaternion." },
{"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS | METH_KEYWORDS,
"Given an object id, joint positions, joint velocities and joint "
"accelerations, compute the joint forces using Inverse Dynamics"},