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fix quadruped, allow user to pick the maximum number of dofs to log

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This commit is contained in:
erwincoumans
2017-03-04 15:30:57 -08:00
parent 44b140dd38
commit c7579d7b82
7 changed files with 39 additions and 7 deletions
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11
examples/pybullet/pybullet.c
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@@ -2625,12 +2625,13 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
int loggingType = -1;
char* fileName = 0;
PyObject* objectUniqueIdsObj = 0;
int maxLogDof=-1;
static char *kwlist[] = { "loggingType", "fileName", "objectUniqueIds", "physicsClientId", NULL };
static char *kwlist[] = { "loggingType", "fileName", "objectUniqueIds", "maxLogDof", "physicsClientId", NULL };
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oi", kwlist,
&loggingType, &fileName, &objectUniqueIdsObj,&physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "is|Oii", kwlist,
&loggingType, &fileName, &objectUniqueIdsObj,&maxLogDof, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -2661,6 +2662,10 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
}
}
if (maxLogDof>0)
{
b3StateLoggingSetMaxLogDof(commandHandle, maxLogDof);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);