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[python] Convert physics calls to double precision.

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In order to feed Bullet the correct values when
compiled with double precision the pybullet interface
needs to pass double precision values.
This commit is contained in:
Jeffrey Bingham
2016-09-06 23:27:34 -07:00
parent 4944aca28b
commit edef18e161
1 changed files with 151 additions and 151 deletions
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32
examples/pybullet/pybullet.c
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@@ -141,13 +141,13 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
int bodyIndex = -1;
const char* urdfFileName="";
float startPosX =0;
float startPosY =0;
float startPosZ = 0;
float startOrnX = 0;
float startOrnY = 0;
float startOrnZ = 0;
float startOrnW = 1;
double startPosX = 0.0;
double startPosY = 0.0;
double startPosZ = 0.0;
double startOrnX = 0.0;
double startOrnY = 0.0;
double startOrnZ = 0.0;
double startOrnW = 1.0;
if (0==sm)
{
@@ -161,13 +161,13 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
}
if (size == 4)
{
if (!PyArg_ParseTuple(args, "sfff", &urdfFileName,
if (!PyArg_ParseTuple(args, "sddd", &urdfFileName,
&startPosX,&startPosY,&startPosZ))
return NULL;
}
if (size==8)
{
if (!PyArg_ParseTuple(args, "sfffffff", &urdfFileName,
if (!PyArg_ParseTuple(args, "sddddddd", &urdfFileName,
&startPosX,&startPosY,&startPosZ,
&startOrnX,&startOrnY,&startOrnZ, &startOrnW))
return NULL;
@@ -200,9 +200,9 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
return PyLong_FromLong(bodyIndex);
}
static float pybullet_internalGetFloatFromSequence(PyObject* seq, int index)
static double pybullet_internalGetFloatFromSequence(PyObject* seq, int index)
{
float v = 0.f;
double v = 0.f;
PyObject* item;
if (PyList_Check(seq))
@@ -540,15 +540,15 @@ pybullet_setGravity(PyObject* self, PyObject* args)
}
{
float gravX=0;
float gravY=0;
float gravZ=-10;
double gravX=0;
double gravY=0;
double gravZ=-10;
int ret;
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
if (!PyArg_ParseTuple(args, "fff", &gravX,&gravY,&gravZ))
if (!PyArg_ParseTuple(args, "ddd", &gravX,&gravY,&gravZ))
{
PyErr_SetString(SpamError, "setGravity expected (x,y,z) values.");
return NULL;
@@ -1092,7 +1092,7 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16])
// a view and projection matrix in renderImage()
//
// // Args:
// matrix - float[16] which will be set by values from objMat
// vector - float[3] which will be set by values from objMat
static int pybullet_internalSetVector(PyObject* objMat, float vector[3])
{
int i, len;