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Add API to get user constraint id.

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This commit is contained in:
yunfeibai
2017-05-03 18:25:25 -07:00
parent 4da2c076a7
commit c7e9a31898
11 changed files with 73 additions and 3 deletions
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4
examples/pybullet/examples/constraint.py
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@@ -9,6 +9,8 @@ cubeId = p.loadURDF("cube_small.urdf",0,0,1)
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)
cid = p.createConstraint(cubeId,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,1])
print cid
print p.getConstraintUniqueId(0)
prev=[0,0,1]
a=-math.pi
while 1:
@@ -21,4 +23,4 @@ while 1:
orn = p.getQuaternionFromEuler([a,0,0])
p.changeConstraint(cid,pivot,jointChildFrameOrientation=orn, maxForce=50)
p.removeConstraint(cid)
p.removeConstraint(cid)

32
examples/pybullet/pybullet.c
View File

@@ -1846,6 +1846,36 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
return NULL;
}
static PyObject* pybullet_getConstraintUniqueId(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int serialIndex = -1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"serialIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &serialIndex, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
int userConstraintId = -1;
userConstraintId = b3GetUserConstraintId(sm, serialIndex);
#if PY_MAJOR_VERSION >= 3
return PyLong_FromLong(userConstraintId);
#else
return PyInt_FromLong(userConstraintId);
#endif
}
}
static PyObject* pybullet_getNumConstraints(PyObject* self, PyObject* args, PyObject* keywds)
{
int numConstraints = 0;
@@ -5430,7 +5460,7 @@ static PyMethodDef SpamMethods[] = {
{"getConstraintInfo", (PyCFunction)pybullet_getConstraintInfo, METH_VARARGS | METH_KEYWORDS,
"Get the user-created constraint info, given a constraint unique id."},
{"getConstraintUniqueId", (PyCFunction)pybullet_getBodyUniqueId, METH_VARARGS | METH_KEYWORDS,
{"getConstraintUniqueId", (PyCFunction)pybullet_getConstraintUniqueId, METH_VARARGS | METH_KEYWORDS,
"Get the unique id of the constraint, given a integer index in range [0.. number of constraints)."},
{"getBasePositionAndOrientation", (PyCFunction)pybullet_getBasePositionAndOrientation,