PyBullet: expose flags to createMultiBody

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -1414,6 +1414,20 @@ B3_SHARED_API void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandH
 	}
 }
 
+
+B3_SHARED_API	void b3CreateMultiBodySetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command);
+    b3Assert(command->m_type == CMD_CREATE_MULTI_BODY);
+	if (command->m_type==CMD_CREATE_MULTI_BODY)
+	{
+		command->m_updateFlags |= MULT_BODY_HAS_FLAGS;
+		command->m_createMultiBodyArgs.m_flags = flags;
+	}
+	
+}
+
 B3_SHARED_API int b3GetStatusMultiBodyUniqueId(b3SharedMemoryStatusHandle statusHandle)
 {
 	const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -466,6 +466,8 @@ B3_SHARED_API	int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandl
 
 //useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
 B3_SHARED_API	void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle);
+B3_SHARED_API	void b3CreateMultiBodySetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
+
 
 //int b3CreateMultiBodyAddLink(b3SharedMemoryCommandHandle commandHandle, int jointType, int parentLinkIndex, double linkMass, int linkCollisionShapeUnique, int linkVisualShapeUniqueId);
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -5804,6 +5804,12 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
 		}						
 					
 		int flags = 0;
+
+		if (clientCmd.m_updateFlags & MULT_BODY_HAS_FLAGS)
+		{
+			flags = clientCmd.m_createMultiBodyArgs.m_flags;
+		}
+
 		bool ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody,  flags, u2b);
 
 		if (ok)

examples/SharedMemory/SharedMemoryCommands.h

@@ -926,6 +926,7 @@ enum eCreateMultiBodyEnum
 {
 	MULTI_BODY_HAS_BASE=1,
 	MULT_BODY_USE_MAXIMAL_COORDINATES=2,
+	MULT_BODY_HAS_FLAGS=4,
 };
 struct b3CreateMultiBodyArgs
 {
@@ -947,7 +948,7 @@ struct b3CreateMultiBodyArgs
 	int m_linkParentIndices[MAX_CREATE_MULTI_BODY_LINKS];
 	int m_linkJointTypes[MAX_CREATE_MULTI_BODY_LINKS];
 	double m_linkJointAxis[3*MAX_CREATE_MULTI_BODY_LINKS];
-
+	int m_flags;
 	#if 0
 	std::string m_name;
 	std::string m_sourceFile;

examples/pybullet/pybullet.c

@@ -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;
@@ -6501,20 +6502,21 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 	PyObject* linkInertialFramePositionObj=0;
 	PyObject* linkInertialFrameOrientationObj=0;
 		
-	static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation", "baseInertialFramePosition", "baseInertialFrameOrientation",
+	static char* kwlist[] = {
-		"linkMasses","linkCollisionShapeIndices", "linkVisualShapeIndices",
+		"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation", 
-		"linkPositions", "linkOrientations","linkInertialFramePositions","linkInertialFrameOrientations", "linkParentIndices", "linkJointTypes","linkJointAxis", 
+		"baseInertialFramePosition", "baseInertialFrameOrientation",	"linkMasses","linkCollisionShapeIndices", 
-		"useMaximalCoordinates","physicsClientId", NULL};
+		"linkVisualShapeIndices","linkPositions", "linkOrientations","linkInertialFramePositions","linkInertialFrameOrientations", 		"linkParentIndices", 
+		"linkJointTypes","linkJointAxis", "useMaximalCoordinates", "flags", "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOiii", kwlist, 
-				&basePosObj, &baseOrnObj,&baseInertialFramePositionObj, &baseInertialFrameOrientationObj,
+		&baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,&basePosObj, &baseOrnObj,
-		&linkMassesObj, &linkCollisionShapeIndicesObj, &linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj,
+		&baseInertialFramePositionObj, &baseInertialFrameOrientationObj,&linkMassesObj, &linkCollisionShapeIndicesObj, 
-		&linkInertialFramePositionObj, &linkInertialFrameOrientationObj,
+		&linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj,&linkInertialFramePositionObj, &linkInertialFrameOrientationObj,&linkParentIndicesObj, 
-		&linkParentIndicesObj, &linkJointTypesObj,&linkJointAxisObj,
+		&linkJointTypesObj,&linkJointAxisObj, &useMaximalCoordinates, &flags, &physicsClientId))
-		&useMaximalCoordinates, &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++)
 				{