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add quadruped.py script to load and initialize the a Minitaur-like quadruped

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pybullet removeConstraint, createConstraint
rename b3CreateJoint to b3InitCreateUserConstraintCommand
add int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
This commit is contained in:
erwin coumans
2016-11-14 14:08:05 -08:00
parent c521d816c6
commit c0fb98861d
9 changed files with 420 additions and 89 deletions
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52
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -960,7 +960,9 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd
return cl->getJointInfo(bodyIndex, jointIndex, *info);
}
b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
@@ -968,22 +970,52 @@ b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CREATE_JOINT;
command->m_createJointArguments.m_parentBodyIndex = parentBodyIndex;
command->m_createJointArguments.m_parentJointIndex = parentJointIndex;
command->m_createJointArguments.m_childBodyIndex = childBodyIndex;
command->m_createJointArguments.m_childJointIndex = childJointIndex;
command->m_type = CMD_USER_CONSTRAINT;
command->m_updateFlags = USER_CONSTRAINT_ADD_CONSTRAINT;
command->m_userConstraintArguments.m_parentBodyIndex = parentBodyIndex;
command->m_userConstraintArguments.m_parentJointIndex = parentJointIndex;
command->m_userConstraintArguments.m_childBodyIndex = childBodyIndex;
command->m_userConstraintArguments.m_childJointIndex = childJointIndex;
for (int i = 0; i < 7; ++i) {
command->m_createJointArguments.m_parentFrame[i] = info->m_parentFrame[i];
command->m_createJointArguments.m_childFrame[i] = info->m_childFrame[i];
command->m_userConstraintArguments.m_parentFrame[i] = info->m_parentFrame[i];
command->m_userConstraintArguments.m_childFrame[i] = info->m_childFrame[i];
}
for (int i = 0; i < 3; ++i) {
command->m_createJointArguments.m_jointAxis[i] = info->m_jointAxis[i];
command->m_userConstraintArguments.m_jointAxis[i] = info->m_jointAxis[i];
}
command->m_createJointArguments.m_jointType = info->m_jointType;
command->m_userConstraintArguments.m_jointType = info->m_jointType;
return (b3SharedMemoryCommandHandle)command;
}
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_USER_CONSTRAINT;
command->m_updateFlags = USER_CONSTRAINT_REMOVE_CONSTRAINT;
command->m_userConstraintArguments.m_userConstraintUniqueId = userConstraintUniqueId;
return (b3SharedMemoryCommandHandle)command;
}
int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
b3Assert(status);
b3Assert(status->m_type == CMD_USER_CONSTRAINT_COMPLETED);
if (status && status->m_type == CMD_USER_CONSTRAINT_COMPLETED)
{
return status->m_userConstraintResultArgs.m_userConstraintUniqueId;
}
return -1;
}
b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX,
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ)