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add yapf style and apply yapf to format all Python files

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This recreates pull request #2192
This commit is contained in:
Erwin Coumans
2019-04-27 07:31:15 -07:00
parent c591735042
commit ef9570c315
347 changed files with 70304 additions and 22752 deletions
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99
examples/pybullet/examples/batchRayCast.py
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@@ -5,73 +5,70 @@ import math
useGui = True
if (useGui):
p.connect(p.GUI)
p.connect(p.GUI)
else:
p.connect(p.DIRECT)
p.connect(p.DIRECT)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
#p.loadURDF("samurai.urdf")
p.loadURDF("r2d2.urdf",[3,3,1])
p.loadURDF("r2d2.urdf", [3, 3, 1])
rayFrom=[]
rayTo=[]
rayIds=[]
rayFrom = []
rayTo = []
rayIds = []
numRays = 1024
rayLen = 13
rayHitColor = [1,0,0]
rayMissColor = [0,1,0]
rayHitColor = [1, 0, 0]
rayMissColor = [0, 1, 0]
replaceLines = True
for i in range (numRays):
rayFrom.append([0,0,1])
rayTo.append([rayLen*math.sin(2.*math.pi*float(i)/numRays), rayLen*math.cos(2.*math.pi*float(i)/numRays),1])
if (replaceLines):
rayIds.append(p.addUserDebugLine(rayFrom[i], rayTo[i], rayMissColor))
else:
rayIds.append(-1)
for i in range(numRays):
rayFrom.append([0, 0, 1])
rayTo.append([
rayLen * math.sin(2. * math.pi * float(i) / numRays),
rayLen * math.cos(2. * math.pi * float(i) / numRays), 1
])
if (replaceLines):
rayIds.append(p.addUserDebugLine(rayFrom[i], rayTo[i], rayMissColor))
else:
rayIds.append(-1)
if (not useGui):
timingLog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"rayCastBench.json")
timingLog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "rayCastBench.json")
numSteps = 10
if (useGui):
numSteps = 327680
numSteps = 327680
for i in range(numSteps):
p.stepSimulation()
for j in range(8):
results = p.rayTestBatch(rayFrom, rayTo, j + 1)
#for i in range (10):
# p.removeAllUserDebugItems()
if (useGui):
if (not replaceLines):
p.removeAllUserDebugItems()
for i in range(numRays):
hitObjectUid = results[i][0]
if (hitObjectUid < 0):
hitPosition = [0, 0, 0]
p.addUserDebugLine(rayFrom[i], rayTo[i], rayMissColor, replaceItemUniqueId=rayIds[i])
else:
hitPosition = results[i][3]
p.addUserDebugLine(rayFrom[i], hitPosition, rayHitColor, replaceItemUniqueId=rayIds[i])
#time.sleep(1./240.)
for i in range (numSteps):
p.stepSimulation()
for j in range (8):
results = p.rayTestBatch(rayFrom,rayTo,j+1)
#for i in range (10):
# p.removeAllUserDebugItems()
if (useGui):
if (not replaceLines):
p.removeAllUserDebugItems()
for i in range (numRays):
hitObjectUid=results[i][0]
if (hitObjectUid<0):
hitPosition =[0,0,0]
p.addUserDebugLine(rayFrom[i],rayTo[i], rayMissColor,replaceItemUniqueId=rayIds[i])
else:
hitPosition = results[i][3]
p.addUserDebugLine(rayFrom[i],hitPosition, rayHitColor,replaceItemUniqueId=rayIds[i])
#time.sleep(1./240.)
if (not useGui):
p.stopStateLogging(timingLog)
p.stopStateLogging(timingLog)