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Merge pull request #1896 from jviereck/jviereck_add_lateral_contact_info

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Adding support for lateral friction to getContactPoints()
This commit is contained in:
erwincoumans
2018-10-06 15:27:14 -07:00
committed by GitHub
parent cb55094a11 219dfc757a
commit c0e38cd921
3 changed files with 61 additions and 10 deletions
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44
examples/pybullet/pybullet.c
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@@ -5754,6 +5754,10 @@ static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPoint
8 double m_contactDistance;//negative number is penetration, positive
is distance.
9 double m_normalForce;
10 double m_linearFrictionForce1;
11 double double m_linearFrictionDirection1[3];
12 double m_linearFrictionForce2;
13 double double m_linearFrictionDirection2[3];
*/
int i;
@@ -5761,7 +5765,7 @@ static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPoint
PyObject* pyResultList = PyTuple_New(contactPointPtr->m_numContactPoints);
for (i = 0; i < contactPointPtr->m_numContactPoints; i++)
{
PyObject* contactObList = PyTuple_New(10); // see above 10 fields
PyObject* contactObList = PyTuple_New(14); // see above 10 fields
PyObject* item;
item =
PyInt_FromLong(contactPointPtr->m_contactPointData[i].m_contactFlags);
@@ -5832,6 +5836,44 @@ static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPoint
contactPointPtr->m_contactPointData[i].m_normalForce);
PyTuple_SetItem(contactObList, 9, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionForce1);
PyTuple_SetItem(contactObList, 10, item);
{
PyObject* posAObj = PyTuple_New(3);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection1[0]);
PyTuple_SetItem(posAObj, 0, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection1[1]);
PyTuple_SetItem(posAObj, 1, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection1[2]);
PyTuple_SetItem(posAObj, 2, item);
PyTuple_SetItem(contactObList, 11, posAObj);
}
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionForce2);
PyTuple_SetItem(contactObList, 12, item);
{
PyObject* posAObj = PyTuple_New(3);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection2[0]);
PyTuple_SetItem(posAObj, 0, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection2[1]);
PyTuple_SetItem(posAObj, 1, item);
item = PyFloat_FromDouble(
contactPointPtr->m_contactPointData[i].m_linearFrictionDirection2[2]);
PyTuple_SetItem(posAObj, 2, item);
PyTuple_SetItem(contactObList, 13, posAObj);
}
PyTuple_SetItem(pyResultList, i, contactObList);
}
return pyResultList;