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[pybullet] getNumConstraints, getConstraintInfo APIs.

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[pybullet] updated pybullet_quickstartguide.pdf
Fail clearly (assert, return BT_INFINITY) if link index is out of range for btMultiBody methods localPosToWorld,worldPosToLocal,localDirToWorld,worldDirToLocal.
pybullet getConstraintInfo
Fix warnings due to Mac OSX 10.12 upgrade (with backward compatibility)
This commit is contained in:
Erwin Coumans
2017-01-22 19:08:31 -08:00
parent f237c4440f
commit cf9f022d39
17 changed files with 841 additions and 200 deletions
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97
examples/OpenGLWindow/MacOpenGLWindow.mm
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@@ -10,6 +10,61 @@
#include <stddef.h>
#include <string.h>
#include <Availability.h>
//aargh, Mac OSX 10.12 broke backwards compatibility, fix it here for now
#ifdef __MAC_10_12
#define MyNSTitledWindowMask NSWindowStyleMaskTitled
#define MyNSResizableWindowMask NSWindowStyleMaskResizable
#define MyNSClosableWindowMask NSWindowStyleMaskClosable
#define MyNSMiniaturizableWindowMask NSWindowStyleMaskMiniaturizable
#define MyNSAnyEventMask NSEventMaskAny
#define MyNSEventTypeFlagsChanged NSEventTypeFlagsChanged
#define MyNSEventModifierFlagShift NSEventModifierFlagShift
#define MyNSEventModifierFlagControl NSEventModifierFlagControl
#define MyNSEventModifierFlagOption NSEventModifierFlagOption
#define MyNSKeyUp NSEventTypeKeyUp
#define MyNSKeyDown NSEventTypeKeyDown
#define MyNSRightMouseDown NSEventTypeRightMouseDown
#define MyNSLeftMouseDown NSEventTypeLeftMouseDown
#define MyNSOtherMouseDown NSEventTypeOtherMouseDown
#define MyNSRightMouseUp NSEventTypeRightMouseUp
#define MyNSLeftMouseUp NSEventTypeLeftMouseUp
#define MyNSOtherMouseUp NSEventTypeOtherMouseUp
#define MyNSMouseMoved NSEventTypeMouseMoved
#define MyNSLeftMouseDragged NSEventTypeLeftMouseDragged
#define MyNSRightMouseDragged NSEventTypeRightMouseDragged
#define MyNSOtherMouseDragged NSEventTypeOtherMouseDragged
#define MyNSScrollWheel NSEventTypeScrollWheel
#else
#define MyNSTitledWindowMask NSTitledWindowMask
#define MyNSResizableWindowMask NSResizableWindowMask
#define MyNSClosableWindowMask NSClosableWindowMask
#define MyNSMiniaturizableWindowMask NSMiniaturizableWindowMask
#define MyNSAnyEventMask NSAnyEventMask
#define MyNSEventTypeFlagsChanged NSFlagsChanged
#define MyNSEventModifierFlagShift NSShiftKeyMask
#define MyNSEventModifierFlagControl NSControlKeyMask
#define MyNSEventModifierFlagOption NSAlternateKeyMask
#define MyNSKeyUp NSKeyUp
#define MyNSKeyDown NSKeyDown
#define NSRightMouseDown NSRightMouseDown
#define MyNSLeftMouseDown LeftMouseDown
#define MyNSOtherMouseDown NSOtherMouseDown
#define MyNSLeftMouseUp NSLeftMouseUp
#define MyNSRightMouseUp NSRightMouseUp
#define MyNSOtherMouseUp NSOtherMouseUp
#define MyNSMouseMoved NSMouseMoved
#define MyNSLeftMouseDragged NSLeftMouseDragged
#define MyNSRightMouseDragged NSRightMouseDragged
#define MyNSOtherMouseDragged NSOtherMouseDragged
#define MyNSScrollWheel NSScrollWheel
#endif
enum
{
@@ -368,7 +423,7 @@ void MacOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
m_internalData->m_window = [NSWindow alloc];
[m_internalData->m_window initWithContentRect:frame
styleMask:NSTitledWindowMask |NSResizableWindowMask| NSClosableWindowMask | NSMiniaturizableWindowMask
styleMask:MyNSTitledWindowMask |MyNSResizableWindowMask| MyNSClosableWindowMask | MyNSMiniaturizableWindowMask
backing:NSBackingStoreBuffered
defer:false];
@@ -771,7 +826,7 @@ void MacOpenGLWindow::startRendering()
[pool release];
pool = [[NSAutoreleasePool alloc] init];
event = [m_internalData->m_myApp
nextEventMatchingMask:NSAnyEventMask
nextEventMatchingMask:MyNSAnyEventMask
untilDate:[NSDate distantPast]
inMode:NSDefaultRunLoopMode
// inMode:NSEventTrackingRunLoopMode
@@ -780,12 +835,12 @@ void MacOpenGLWindow::startRendering()
//NSShiftKeyMask = 1 << 17,
//NSControlKeyMask
if ([event type] == NSFlagsChanged)
if ([event type] == MyNSEventTypeFlagsChanged)
{
int modifiers = [event modifierFlags];
if (m_keyboardCallback)
{
if ((modifiers & NSShiftKeyMask))
if ((modifiers & MyNSEventModifierFlagShift))
{
m_keyboardCallback(B3G_SHIFT,1);
m_modifierFlags |= MY_MAC_SHIFTKEY;
@@ -797,7 +852,7 @@ void MacOpenGLWindow::startRendering()
m_modifierFlags &= ~MY_MAC_SHIFTKEY;
}
}
if (modifiers & NSControlKeyMask)
if (modifiers & MyNSEventModifierFlagControl)
{
m_keyboardCallback(B3G_CONTROL,1);
m_modifierFlags |= MY_MAC_CONTROL_KEY;
@@ -809,7 +864,7 @@ void MacOpenGLWindow::startRendering()
m_modifierFlags &= ~MY_MAC_CONTROL_KEY;
}
}
if (modifiers & NSAlternateKeyMask)
if (modifiers & MyNSEventModifierFlagOption)
{
m_keyboardCallback(B3G_ALT,1);
m_modifierFlags |= MY_MAC_ALTKEY;
@@ -826,7 +881,7 @@ void MacOpenGLWindow::startRendering()
}
}
if ([event type] == NSKeyUp)
if ([event type] == MyNSKeyUp)
{
handledEvent = true;
@@ -841,7 +896,9 @@ void MacOpenGLWindow::startRendering()
m_keyboardCallback(keycode,state);
}
}
if ([event type] == NSKeyDown)
if ([event type] == MyNSKeyDown)
{
handledEvent = true;
@@ -861,7 +918,8 @@ void MacOpenGLWindow::startRendering()
}
if (([event type]== NSRightMouseDown) || ([ event type]==NSLeftMouseDown)||([event type]==NSOtherMouseDown))
if (([event type]== MyNSRightMouseDown) || ([ event type]==MyNSLeftMouseDown)||([event type]==MyNSOtherMouseDown))
{
// printf("right mouse!");
// float mouseX,mouseY;
@@ -873,17 +931,17 @@ void MacOpenGLWindow::startRendering()
int button=0;
switch ([event type])
{
case NSLeftMouseDown:
case MyNSLeftMouseDown:
{
button=0;
break;
}
case NSOtherMouseDown:
case MyNSOtherMouseDown:
{
button=1;
break;
}
case NSRightMouseDown:
case MyNSRightMouseDown:
{
button=2;
break;
@@ -902,7 +960,7 @@ void MacOpenGLWindow::startRendering()
}
if (([event type]== NSRightMouseUp) || ([ event type]==NSLeftMouseUp)||([event type]==NSOtherMouseUp))
if (([event type]== MyNSRightMouseUp) || ([ event type]==MyNSLeftMouseUp)||([event type]==MyNSOtherMouseUp))
{
// printf("right mouse!");
// float mouseX,mouseY;
@@ -915,17 +973,17 @@ void MacOpenGLWindow::startRendering()
int button=0;
switch ([event type])
{
case NSLeftMouseUp:
case MyNSLeftMouseUp:
{
button=0;
break;
}
case NSOtherMouseUp:
case MyNSOtherMouseUp:
{
button=1;
break;
}
case NSRightMouseUp:
case MyNSRightMouseUp:
{
button=2;
break;
@@ -943,7 +1001,7 @@ void MacOpenGLWindow::startRendering()
}
if ([event type] == NSMouseMoved)
if ([event type] == MyNSMouseMoved)
{
NSPoint eventLocation = [event locationInWindow];
@@ -960,7 +1018,8 @@ void MacOpenGLWindow::startRendering()
}
}
if (([event type] == NSLeftMouseDragged) || ([event type] == NSRightMouseDragged) || ([event type] == NSOtherMouseDragged))
if (([event type] == MyNSLeftMouseDragged) || ([event type] == MyNSRightMouseDragged) || ([event type] == MyNSOtherMouseDragged))
{
int dx1, dy1;
CGGetLastMouseDelta (&dx1, &dy1);
@@ -979,7 +1038,7 @@ void MacOpenGLWindow::startRendering()
// printf("mouse coord = %f, %f\n",m_mouseX,m_mouseY);
}
if ([event type] == NSScrollWheel)
if ([event type] == MyNSScrollWheel)
{
float dy, dx;
dy = [ event deltaY ];