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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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erwincoumans
2016-11-04 13:16:30 -07:00
parent d62ac01d14 908cb2def2
commit e35129ceaf
60 changed files with 4420 additions and 1195 deletions
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84
examples/pybullet/pybullet.c
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@@ -1406,8 +1406,82 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args)
return Py_None;
}
static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args)
{
int size = PySequence_Size(args);
int objectUniqueId = -1;
int jointIndex = -1;
int shapeIndex = -1;
int textureUniqueId = -1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (size == 4)
{
if (!PyArg_ParseTuple(args, "iiii", &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId)) {
PyErr_SetString(SpamError, "Error parsing object unique id, or joint index, or shape index, or texture unique id");
return NULL;
}
commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED)
{
}
else
{
PyErr_SetString(SpamError, "Error resetting visual shape info");
return NULL;
}
}
else
{
PyErr_SetString(SpamError, "setVisualShapeData requires 4 argument");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args)
{
int size = PySequence_Size(args);
const char* filename = -1;
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
if (size == 1)
{
if (!PyArg_ParseTuple(args, "s", &filename)) {
PyErr_SetString(SpamError, "Error parsing file name");
return NULL;
}
commandHandle = b3InitLoadTexture(sm, filename);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_LOAD_TEXTURE_COMPLETED)
{
}
else
{
PyErr_SetString(SpamError, "Error loading texture");
return NULL;
}
}
else
{
PyErr_SetString(SpamError, "loadTexture requires 1 argument");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args) {
int size = PySequence_Size(args);
@@ -2345,9 +2419,15 @@ static PyMethodDef SpamMethods[] = {
"object-object collisions. Optional arguments one or two object unique "
"ids, that need to be involved in the contact."},
{ "getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS,
{"getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS,
"Return the visual shape information for one object." },
{"resetVisualShapeData", pybullet_resetVisualShapeData, METH_VARARGS,
"Reset part of the visual shape information for one object." },
{"loadTexture", pybullet_loadTexture, METH_VARARGS,
"Load texture file." },
{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS,
"Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to "
"quaternion [x,y,z,w]"},