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PyBullet: expose flags to createMultiBody

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This commit is contained in:
erwincoumans
2018-06-02 11:37:14 -07:00
parent 39c9ffa4c3
commit cb6b7a7c38
5 changed files with 43 additions and 14 deletions
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32
examples/pybullet/pybullet.c
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@@ -6485,6 +6485,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
int baseCollisionShapeIndex=-1;
int baseVisualShapeIndex=-1;
int useMaximalCoordinates = 0;
int flags = -1;
PyObject* basePosObj=0;
PyObject* baseOrnObj=0;
PyObject* baseInertialFramePositionObj=0;
@@ -6500,21 +6501,22 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
PyObject* linkJointAxisObj=0;
PyObject* linkInertialFramePositionObj=0;
PyObject* linkInertialFrameOrientationObj=0;
static char* kwlist[] = {
"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation",
"baseInertialFramePosition", "baseInertialFrameOrientation", "linkMasses","linkCollisionShapeIndices",
"linkVisualShapeIndices","linkPositions", "linkOrientations","linkInertialFramePositions","linkInertialFrameOrientations", "linkParentIndices",
"linkJointTypes","linkJointAxis", "useMaximalCoordinates", "flags", "physicsClientId", NULL};
static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation", "baseInertialFramePosition", "baseInertialFrameOrientation",
"linkMasses","linkCollisionShapeIndices", "linkVisualShapeIndices",
"linkPositions", "linkOrientations","linkInertialFramePositions","linkInertialFrameOrientations", "linkParentIndices", "linkJointTypes","linkJointAxis",
"useMaximalCoordinates","physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
&basePosObj, &baseOrnObj,&baseInertialFramePositionObj, &baseInertialFrameOrientationObj,
&linkMassesObj, &linkCollisionShapeIndicesObj, &linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj,
&linkInertialFramePositionObj, &linkInertialFrameOrientationObj,
&linkParentIndicesObj, &linkJointTypesObj,&linkJointAxisObj,
&useMaximalCoordinates, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOiii", kwlist,
&baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,&basePosObj, &baseOrnObj,
&baseInertialFramePositionObj, &baseInertialFrameOrientationObj,&linkMassesObj, &linkCollisionShapeIndicesObj,
&linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj,&linkInertialFramePositionObj, &linkInertialFrameOrientationObj,&linkParentIndicesObj,
&linkJointTypesObj,&linkJointAxisObj, &useMaximalCoordinates, &flags, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
@@ -6634,6 +6636,10 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
{
b3CreateMultiBodyUseMaximalCoordinates(commandHandle);
}
if (flags >0)
{
b3CreateMultiBodySetFlags(commandHandle, flags);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CREATE_MULTI_BODY_COMPLETED)
@@ -8172,12 +8178,12 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
}
else
{
int szInBytes = sizeof(double) * szJointDamping;
int i;
if (szJointDamping != dofCount)
{
printf("calculateInverseKinematics: the size of input joint damping values should be equal to the number of degrees of freedom, ignoring the additonal values.");
}
int szInBytes = sizeof(double) * szJointDamping;
int i;
jointDamping = (double*)malloc(szInBytes);
for (i = 0; i < szJointDamping; i++)
{