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add body type info to dynamics info

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Chuyuan Fu
2019-09-03 14:27:19 -07:00
parent 25cc1fa386
commit e4a5f9e06e
4 changed files with 24 additions and 8 deletions
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5
examples/pybullet/examples/load_soft_body.py
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@@ -5,6 +5,7 @@ physicsClient = p.connect(p.DIRECT)
p.setGravity(0, 0, -10)
planeId = p.loadURDF("plane.urdf")
boxId = p.loadURDF("cube.urdf", useMaximalCoordinates = True)
bunnyId = p.loadSoftBody("bunny.obj")
#meshData = p.getMeshData(bunnyId)
#print("meshData=",meshData)
@@ -14,6 +15,10 @@ useRealTimeSimulation = 1
if (useRealTimeSimulation):
p.setRealTimeSimulation(1)
print(p.getDynamicsInfo(planeId, -1))
print(p.getDynamicsInfo(bunnyId, 0))
print(p.getDynamicsInfo(boxId, -1))
while p.isConnected():
p.setGravity(0, 0, -10)
if (useRealTimeSimulation):

3
examples/pybullet/pybullet.c
View File

@@ -1462,7 +1462,7 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje
if (b3GetDynamicsInfo(status_handle, &info))
{
int numFields = 10;
int numFields = 11;
PyObject* pyDynamicsInfo = PyTuple_New(numFields);
PyTuple_SetItem(pyDynamicsInfo, 0, PyFloat_FromDouble(info.m_mass));
PyTuple_SetItem(pyDynamicsInfo, 1, PyFloat_FromDouble(info.m_lateralFrictionCoeff));
@@ -1494,6 +1494,7 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje
PyTuple_SetItem(pyDynamicsInfo, 7, PyFloat_FromDouble(info.m_spinningFrictionCoeff));
PyTuple_SetItem(pyDynamicsInfo, 8, PyFloat_FromDouble(info.m_contactDamping));
PyTuple_SetItem(pyDynamicsInfo, 9, PyFloat_FromDouble(info.m_contactStiffness));
PyTuple_SetItem(pyDynamicsInfo, 10, PyInt_FromLong(info.m_bodyType));
return pyDynamicsInfo;
}
}