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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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29
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -430,6 +430,13 @@ const btQuaternion & btMultiBody::getParentToLocalRot(int i) const
btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const
{
btAssert(i>=-1);
btAssert(i<m_links.size());
if ((i<-1) || (i>=m_links.size()))
{
return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
}
btVector3 result = local_pos;
while (i != -1) {
// 'result' is in frame i. transform it to frame parent(i)
@@ -447,6 +454,13 @@ btVector3 btMultiBody::localPosToWorld(int i, const btVector3 &local_pos) const
btVector3 btMultiBody::worldPosToLocal(int i, const btVector3 &world_pos) const
{
btAssert(i>=-1);
btAssert(i<m_links.size());
if ((i<-1) || (i>=m_links.size()))
{
return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
}
if (i == -1) {
// world to base
return quatRotate(getWorldToBaseRot(),(world_pos - getBasePos()));
@@ -458,6 +472,14 @@ btVector3 btMultiBody::worldPosToLocal(int i, const btVector3 &world_pos) const
btVector3 btMultiBody::localDirToWorld(int i, const btVector3 &local_dir) const
{
btAssert(i>=-1);
btAssert(i<m_links.size());
if ((i<-1) || (i>=m_links.size()))
{
return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
}
btVector3 result = local_dir;
while (i != -1) {
result = quatRotate(getParentToLocalRot(i).inverse() , result);
@@ -469,6 +491,13 @@ btVector3 btMultiBody::localDirToWorld(int i, const btVector3 &local_dir) const
btVector3 btMultiBody::worldDirToLocal(int i, const btVector3 &world_dir) const
{
btAssert(i>=-1);
btAssert(i<m_links.size());
if ((i<-1) || (i>=m_links.size()))
{
return btVector3(SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
}
if (i == -1) {
return quatRotate(getWorldToBaseRot(), world_dir);
} else {