Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

expose PyBullet.setPhysicsEngineParameter(jointFeedbackMode)

Browse Source 
use p.JOINT_FEEDBACK_IN_JOINT_FRAME if you want the joint feedback expressed in joint frame (instead of link inertial frame)
use p.JOINT_FEEDBACK_IN_WORLD_SPACE if you want the joint feedback in world space coordinates, instead of local link/joint coordinates.
Example: p.setPhysicsEngineParameter(jointFeedbackMode=p.JOINT_FEEDBACK_IN_WORLD_SPACE+p.JOINT_FEEDBACK_IN_JOINT_FRAME)
This commit is contained in:
erwincoumans
2018-05-11 19:52:06 -07:00
parent 1ec24a0853
commit e5a9b42f9a
6 changed files with 42 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
examples/pybullet/pybullet.c
View File

@@ -1156,12 +1156,13 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int enableConeFriction = -1;
b3PhysicsClientHandle sm = 0;
int deterministicOverlappingPairs = -1;
int jointFeedbackMode =-1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &physicsClientId))
{
return NULL;
}
@@ -1245,7 +1246,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
if (allowedCcdPenetration>=0)
{
b3PhysicsParameterSetAllowedCcdPenetration(command,allowedCcdPenetration);
}
if (jointFeedbackMode>=0)
{
b3PhysicsParameterSetJointFeedbackMode(command,jointFeedbackMode);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -9177,6 +9181,9 @@ initpybullet(void)
PyModule_AddIntConstant(m, "SENSOR_FORCE_TORQUE", eSensorForceTorqueType); // user read
PyModule_AddIntConstant(m, "JOINT_FEEDBACK_IN_WORLD_SPACE", JOINT_FEEDBACK_IN_WORLD_SPACE); // user read
PyModule_AddIntConstant(m, "JOINT_FEEDBACK_IN_JOINT_FRAME", JOINT_FEEDBACK_IN_JOINT_FRAME); // user read
PyModule_AddIntConstant(m, "TORQUE_CONTROL", CONTROL_MODE_TORQUE);
PyModule_AddIntConstant(m, "VELOCITY_CONTROL",
CONTROL_MODE_VELOCITY); // user read