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fix pybullet.c compilation for Windows

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add lego.urdf, duck.urdf (optimized using VHACD convex decomposition)
optimize Kiva shelf collision model (by hand, using boxes/Blender)
physics timescale toggle between  1 -> 0,25 -> 0
This commit is contained in:
erwincoumans
2016-09-24 11:25:05 -07:00
parent 0dfe20c036
commit f5e65197f4
13 changed files with 16333 additions and 38 deletions
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21
examples/pybullet/pybullet.c
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@@ -909,6 +909,11 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args) {
if (size == 2) // get body index and joint index
{
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex)) {
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle status_handle;
if (bodyIndex < 0) {
PyErr_SetString(SpamError, "getJointState failed; invalid bodyIndex");
return NULL;
@@ -918,10 +923,10 @@ static PyObject* pybullet_getJointState(PyObject* self, PyObject* args) {
return NULL;
}
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle =
cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle);
@@ -984,6 +989,10 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args) {
if (PySequence_Size(args) == 2) // body index and link index
{
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &linkIndex)) {
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle status_handle;
if (bodyIndex < 0) {
PyErr_SetString(SpamError, "getLinkState failed; invalid bodyIndex");
return NULL;
@@ -993,10 +1002,10 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args) {
return NULL;
}
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle =
cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle);