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fix memory leak in PyBullet.calculateInverseKinematics when joint limits are provided

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Fixes Issue #2164
This commit is contained in:
Erwin Coumans
2019-03-20 15:09:48 -07:00
parent 3acac372da
commit f725d1201d
1 changed files with 174 additions and 191 deletions
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365
examples/pybullet/pybullet.c
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@@ -14,7 +14,6 @@
#include "../SharedMemory/physx/PhysXC_API.h" #include "../SharedMemory/physx/PhysXC_API.h"
#endif #endif
#ifdef BT_ENABLE_MUJOCO #ifdef BT_ENABLE_MUJOCO
#include "../SharedMemory/mujoco/MuJoCoPhysicsC_API.h" #include "../SharedMemory/mujoco/MuJoCoPhysicsC_API.h"
#endif #endif
@@ -1233,7 +1232,7 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double restitution = -1; double restitution = -1;
double linearDamping = -1; double linearDamping = -1;
double angularDamping = -1; double angularDamping = -1;
double contactStiffness = -1; double contactStiffness = -1;
double contactDamping = -1; double contactDamping = -1;
double ccdSweptSphereRadius = -1; double ccdSweptSphereRadius = -1;
@@ -1244,11 +1243,11 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
PyObject* localInertiaDiagonalObj = 0; PyObject* localInertiaDiagonalObj = 0;
PyObject* anisotropicFrictionObj = 0; PyObject* anisotropicFrictionObj = 0;
double maxJointVelocity = -1; double maxJointVelocity = -1;
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "maxJointVelocity", "physicsClientId", NULL}; static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction", "restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "jointDamping", "anisotropicFriction", "maxJointVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOdi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &maxJointVelocity, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddidOdi", kwlist, &bodyUniqueId, &linkIndex, &mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution, &linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &activationState, &jointDamping, &anisotropicFrictionObj, &maxJointVelocity, &physicsClientId))
{ {
return NULL; return NULL;
@@ -1341,7 +1340,7 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{ {
b3ChangeDynamicsInfoSetMaxJointVelocity(command, bodyUniqueId, maxJointVelocity); b3ChangeDynamicsInfoSetMaxJointVelocity(command, bodyUniqueId, maxJointVelocity);
} }
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
} }
@@ -1514,30 +1513,30 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int minimumSolverIslandSize = -1; int minimumSolverIslandSize = -1;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", static char* kwlist[] = {"fixedTimeStep",
"numSolverIterations", "numSolverIterations",
"useSplitImpulse", "useSplitImpulse",
"splitImpulsePenetrationThreshold", "splitImpulsePenetrationThreshold",
"numSubSteps", "numSubSteps",
"collisionFilterMode", "collisionFilterMode",
"contactBreakingThreshold", "contactBreakingThreshold",
"maxNumCmdPer1ms", "maxNumCmdPer1ms",
"enableFileCaching", "enableFileCaching",
"restitutionVelocityThreshold", "restitutionVelocityThreshold",
"erp", "erp",
"contactERP", "contactERP",
"frictionERP", "frictionERP",
"enableConeFriction", "enableConeFriction",
"deterministicOverlappingPairs", "deterministicOverlappingPairs",
"allowedCcdPenetration", "allowedCcdPenetration",
"jointFeedbackMode", "jointFeedbackMode",
"solverResidualThreshold", "solverResidualThreshold",
"contactSlop", "contactSlop",
"enableSAT", "enableSAT",
"constraintSolverType", "constraintSolverType",
"globalCFM", "globalCFM",
"minimumSolverIslandSize", "minimumSolverIslandSize",
"physicsClientId", NULL}; "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps, if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId)) &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId))
@@ -2222,7 +2221,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
if ((controlMode != CONTROL_MODE_VELOCITY) && if ((controlMode != CONTROL_MODE_VELOCITY) &&
(controlMode != CONTROL_MODE_TORQUE) && (controlMode != CONTROL_MODE_TORQUE) &&
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD)&& (controlMode != CONTROL_MODE_POSITION_VELOCITY_PD) &&
(controlMode != CONTROL_MODE_PD)) (controlMode != CONTROL_MODE_PD))
{ {
PyErr_SetString(SpamError, "Illegal control mode."); PyErr_SetString(SpamError, "Illegal control mode.");
@@ -2469,30 +2468,29 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
// return NULL; // return NULL;
} }
static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject* args, PyObject* keywds)
{ {
int bodyUniqueId, jointIndex, controlMode; int bodyUniqueId, jointIndex, controlMode;
double targetPositionArray[4] = { 0, 0, 0, 1 }; double targetPositionArray[4] = {0, 0, 0, 1};
double targetVelocityArray[3] = { 0, 0, 0 }; double targetVelocityArray[3] = {0, 0, 0};
double targetForceArray[3] = { 100000.0, 100000.0, 100000.0 }; double targetForceArray[3] = {100000.0, 100000.0, 100000.0};
int targetPositionSize = 0; int targetPositionSize = 0;
int targetVelocitySize = 0; int targetVelocitySize = 0;
int targetForceSize = 0; int targetForceSize = 0;
PyObject* targetPositionObj = 0; PyObject* targetPositionObj = 0;
PyObject* targetVelocityObj = 0; PyObject* targetVelocityObj = 0;
PyObject* targetForceObj = 0; PyObject* targetForceObj = 0;
double kp = 0.1; double kp = 0.1;
double kd = 1.0; double kd = 1.0;
double maxVelocity = -1; double maxVelocity = -1;
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = { "bodyUniqueId", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "maxVelocity", "physicsClientId", NULL }; static char* kwlist[] = {"bodyUniqueId", "jointIndex", "controlMode", "targetPosition", "targetVelocity", "force", "positionGain", "velocityGain", "maxVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|OOOdddi", kwlist, &bodyUniqueId, &jointIndex, &controlMode, if (!PyArg_ParseTupleAndKeywords(args, keywds, "iii|OOOdddi", kwlist, &bodyUniqueId, &jointIndex, &controlMode,
&targetPositionObj, &targetVelocityObj, &targetForceObj, &kp, &kd, &maxVelocity, &physicsClientId)) &targetPositionObj, &targetVelocityObj, &targetForceObj, &kp, &kd, &maxVelocity, &physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -2514,7 +2512,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
{ {
targetPositionSize = 0; targetPositionSize = 0;
} }
if (targetPositionSize >4) if (targetPositionSize > 4)
{ {
targetPositionSize = 4; targetPositionSize = 4;
} }
@@ -2539,7 +2537,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
{ {
targetVelocitySize = 0; targetVelocitySize = 0;
} }
if (targetVelocitySize >3) if (targetVelocitySize > 3)
{ {
targetVelocitySize = 3; targetVelocitySize = 3;
} }
@@ -2564,7 +2562,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
{ {
targetForceSize = 0; targetForceSize = 0;
} }
if (targetForceSize >3) if (targetForceSize > 3)
{ {
targetForceSize = 3; targetForceSize = 3;
} }
@@ -2578,7 +2576,6 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
} }
} }
//if (targetPositionSize == 0 && targetVelocitySize == 0) //if (targetPositionSize == 0 && targetVelocitySize == 0)
//{ //{
@@ -2595,11 +2592,11 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
return NULL; return NULL;
} }
if (//(controlMode != CONTROL_MODE_VELOCITY)&& if ( //(controlMode != CONTROL_MODE_VELOCITY)&&
(controlMode != CONTROL_MODE_TORQUE) && (controlMode != CONTROL_MODE_TORQUE) &&
(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD)//&& (controlMode != CONTROL_MODE_POSITION_VELOCITY_PD) //&&
//(controlMode != CONTROL_MODE_PD) //(controlMode != CONTROL_MODE_PD)
) )
{ {
PyErr_SetString(SpamError, "Illegal control mode."); PyErr_SetString(SpamError, "Illegal control mode.");
return NULL; return NULL;
@@ -2608,7 +2605,7 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
commandHandle = b3JointControlCommandInit2(sm, bodyUniqueId, controlMode); commandHandle = b3JointControlCommandInit2(sm, bodyUniqueId, controlMode);
b3GetJointInfo(sm, bodyUniqueId, jointIndex, &info); b3GetJointInfo(sm, bodyUniqueId, jointIndex, &info);
switch (controlMode) switch (controlMode)
{ {
#if 0 #if 0
@@ -2621,59 +2618,57 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
break; break;
} }
#endif #endif
case CONTROL_MODE_TORQUE: case CONTROL_MODE_TORQUE:
{
if (info.m_uSize == targetForceSize)
{ {
b3JointControlSetDesiredForceTorqueMultiDof(commandHandle, info.m_uIndex, if (info.m_uSize == targetForceSize)
targetForceArray, targetForceSize); {
b3JointControlSetDesiredForceTorqueMultiDof(commandHandle, info.m_uIndex,
targetForceArray, targetForceSize);
}
break;
} }
break; case CONTROL_MODE_POSITION_VELOCITY_PD:
} case CONTROL_MODE_PD:
case CONTROL_MODE_POSITION_VELOCITY_PD: {
case CONTROL_MODE_PD: //make sure size == info.m_qSize
{
//make sure size == info.m_qSize if (maxVelocity > 0)
{
if (maxVelocity > 0) b3JointControlSetMaximumVelocity(commandHandle, info.m_uIndex, maxVelocity);
{ }
b3JointControlSetMaximumVelocity(commandHandle, info.m_uIndex, maxVelocity);
}
if (info.m_qSize == targetPositionSize) if (info.m_qSize == targetPositionSize)
{ {
b3JointControlSetDesiredPositionMultiDof(commandHandle, info.m_qIndex, b3JointControlSetDesiredPositionMultiDof(commandHandle, info.m_qIndex,
targetPositionArray, targetPositionSize); targetPositionArray, targetPositionSize);
}
else
{
//printf("Warning: targetPosition array size doesn't match joint position size (got %d, expected %d).",targetPositionSize, info.m_qSize);
}
b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
if (info.m_uSize == targetVelocitySize)
{
b3JointControlSetDesiredVelocityMultiDof(commandHandle, info.m_uIndex,
targetVelocityArray, targetVelocitySize);
}
else
{
//printf("Warning: targetVelocity array size doesn't match joint dimentions (got %d, expected %d).", targetVelocitySize, info.m_uSize);
}
b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
if (info.m_uSize == targetForceSize || targetForceSize == 1)
{
b3JointControlSetDesiredForceTorqueMultiDof(commandHandle, info.m_uIndex,
targetForceArray, targetForceSize);
}
break;
} }
else default:
{ {
//printf("Warning: targetPosition array size doesn't match joint position size (got %d, expected %d).",targetPositionSize, info.m_qSize);
} }
b3JointControlSetKp(commandHandle, info.m_uIndex, kp);
if (info.m_uSize == targetVelocitySize)
{
b3JointControlSetDesiredVelocityMultiDof(commandHandle, info.m_uIndex,
targetVelocityArray, targetVelocitySize);
}
else
{
//printf("Warning: targetVelocity array size doesn't match joint dimentions (got %d, expected %d).", targetVelocitySize, info.m_uSize);
}
b3JointControlSetKd(commandHandle, info.m_uIndex, kd);
if (info.m_uSize == targetForceSize || targetForceSize==1)
{
b3JointControlSetDesiredForceTorqueMultiDof(commandHandle, info.m_uIndex,
targetForceArray, targetForceSize);
}
break;
}
default:
{
}
}; };
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
@@ -2685,7 +2680,6 @@ static PyObject* pybullet_setJointMotorControlMultiDof(PyObject* self, PyObject*
// return NULL; // return NULL;
} }
static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_setJointMotorControl2(PyObject* self, PyObject* args, PyObject* keywds)
{ {
int bodyUniqueId, jointIndex, controlMode; int bodyUniqueId, jointIndex, controlMode;
@@ -3756,15 +3750,15 @@ static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int bodyUniqueId; int bodyUniqueId;
int jointIndex; int jointIndex;
double targetPositionArray[4] = { 0, 0, 0, 1 }; double targetPositionArray[4] = {0, 0, 0, 1};
double targetVelocityArray[3] = { 0, 0, 0 }; double targetVelocityArray[3] = {0, 0, 0};
int targetPositionSize = 0; int targetPositionSize = 0;
int targetVelocitySize = 0; int targetVelocitySize = 0;
PyObject* targetPositionObj = 0; PyObject* targetPositionObj = 0;
PyObject* targetVelocityObj = 0; PyObject* targetVelocityObj = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = { "bodyUniqueId", "jointIndex", "targetValue", "targetVelocity", "physicsClientId", NULL }; static char* kwlist[] = {"bodyUniqueId", "jointIndex", "targetValue", "targetVelocity", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|Oi", kwlist, &bodyUniqueId, &jointIndex, &targetPositionObj, &targetVelocityObj, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|Oi", kwlist, &bodyUniqueId, &jointIndex, &targetPositionObj, &targetVelocityObj, &physicsClientId))
{ {
return NULL; return NULL;
@@ -3787,7 +3781,7 @@ static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args
{ {
targetPositionSize = 0; targetPositionSize = 0;
} }
if (targetPositionSize >4) if (targetPositionSize > 4)
{ {
targetPositionSize = 4; targetPositionSize = 4;
} }
@@ -3800,7 +3794,7 @@ static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args
Py_DECREF(targetPositionSeq); Py_DECREF(targetPositionSeq);
} }
} }
if (targetVelocityObj) if (targetVelocityObj)
{ {
int i = 0; int i = 0;
@@ -3812,7 +3806,7 @@ static PyObject* pybullet_resetJointStateMultiDof(PyObject* self, PyObject* args
{ {
targetVelocitySize = 0; targetVelocitySize = 0;
} }
if (targetVelocitySize >3) if (targetVelocitySize > 3)
{ {
targetVelocitySize = 3; targetVelocitySize = 3;
} }
@@ -4250,7 +4244,6 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
PyObject* pyListVelocity; PyObject* pyListVelocity;
PyObject* pyListJointMotorTorque; PyObject* pyListJointMotorTorque;
struct b3JointSensorState2 sensorState; struct b3JointSensorState2 sensorState;
int bodyUniqueId = -1; int bodyUniqueId = -1;
@@ -4261,7 +4254,7 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
int physicsClientId = 0; int physicsClientId = 0;
static char* kwlist[] = { "bodyUniqueId", "jointIndex", "physicsClientId", NULL }; static char* kwlist[] = {"bodyUniqueId", "jointIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &jointIndex, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &jointIndex, &physicsClientId))
{ {
return NULL; return NULL;
@@ -4317,28 +4310,27 @@ static PyObject* pybullet_getJointStateMultiDof(PyObject* self, PyObject* args,
for (i = 0; i < sensorState.m_qDofSize; i++) for (i = 0; i < sensorState.m_qDofSize; i++)
{ {
PyTuple_SetItem(pyListPosition, i, PyTuple_SetItem(pyListPosition, i,
PyFloat_FromDouble(sensorState.m_jointPosition[i])); PyFloat_FromDouble(sensorState.m_jointPosition[i]));
} }
for (i = 0; i < sensorState.m_uDofSize; i++) for (i = 0; i < sensorState.m_uDofSize; i++)
{ {
PyTuple_SetItem(pyListVelocity, i, PyTuple_SetItem(pyListVelocity, i,
PyFloat_FromDouble(sensorState.m_jointVelocity[i])); PyFloat_FromDouble(sensorState.m_jointVelocity[i]));
PyTuple_SetItem(pyListJointMotorTorque, i, PyTuple_SetItem(pyListJointMotorTorque, i,
PyFloat_FromDouble(sensorState.m_jointMotorTorqueMultiDof[i])); PyFloat_FromDouble(sensorState.m_jointMotorTorqueMultiDof[i]));
} }
for (j = 0; j < forceTorqueSize; j++) for (j = 0; j < forceTorqueSize; j++)
{ {
PyTuple_SetItem(pyListJointForceTorque, j, PyTuple_SetItem(pyListJointForceTorque, j,
PyFloat_FromDouble(sensorState.m_jointReactionForceTorque[j])); PyFloat_FromDouble(sensorState.m_jointReactionForceTorque[j]));
} }
PyTuple_SetItem(pyListJointState, 2, pyListJointForceTorque); PyTuple_SetItem(pyListJointState, 2, pyListJointForceTorque);
PyTuple_SetItem(pyListJointState, 3, pyListJointMotorTorque); PyTuple_SetItem(pyListJointState, 3, pyListJointMotorTorque);
return pyListJointState; return pyListJointState;
} }
@@ -5265,7 +5257,7 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
int sizeTo = 0; int sizeTo = 0;
int parentObjectUniqueId = -1; int parentObjectUniqueId = -1;
int parentLinkIndex = -1; int parentLinkIndex = -1;
static char* kwlist[] = {"rayFromPositions", "rayToPositions", "numThreads", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL}; static char* kwlist[] = {"rayFromPositions", "rayToPositions", "numThreads", "parentObjectUniqueId", "parentLinkIndex", "physicsClientId", NULL};
int physicsClientId = 0; int physicsClientId = 0;
@@ -5354,9 +5346,9 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
} }
} }
if (parentObjectUniqueId>=0) if (parentObjectUniqueId >= 0)
{ {
b3RaycastBatchSetParentObject(commandHandle, parentObjectUniqueId,parentLinkIndex); b3RaycastBatchSetParentObject(commandHandle, parentObjectUniqueId, parentLinkIndex);
} }
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
@@ -6129,7 +6121,7 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
{ {
commandHandle = b3InitUpdateVisualShape2(sm, objectUniqueId, jointIndex, shapeIndex); commandHandle = b3InitUpdateVisualShape2(sm, objectUniqueId, jointIndex, shapeIndex);
if (textureUniqueId>=-1) if (textureUniqueId >= -1)
{ {
b3UpdateVisualShapeTexture(commandHandle, textureUniqueId); b3UpdateVisualShapeTexture(commandHandle, textureUniqueId);
} }
@@ -6438,7 +6430,7 @@ static PyObject* pybullet_setCollisionFilterGroupMask(PyObject* self, PyObject*
PyErr_SetString(SpamError, "Not connected to physics server."); PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL; return NULL;
} }
commandHandle = b3CollisionFilterCommandInit(sm); commandHandle = b3CollisionFilterCommandInit(sm);
b3SetCollisionFilterGroupMask(commandHandle, bodyUniqueIdA, linkIndexA, collisionFilterGroup, collisionFilterMask); b3SetCollisionFilterGroupMask(commandHandle, bodyUniqueIdA, linkIndexA, collisionFilterGroup, collisionFilterMask);
@@ -6805,14 +6797,13 @@ static PyObject* pybullet_enableJointForceTorqueSensor(PyObject* self, PyObject*
return NULL; return NULL;
} }
static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVertices) static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVertices)
{ {
int numVerticesOut=0; int numVerticesOut = 0;
if (verticesObj) if (verticesObj)
{ {
PyObject* seqVerticesObj= PySequence_Fast(verticesObj, "expected a sequence of vertex positions"); PyObject* seqVerticesObj = PySequence_Fast(verticesObj, "expected a sequence of vertex positions");
if (seqVerticesObj) if (seqVerticesObj)
{ {
int numVerticesSrc = PySequence_Size(seqVerticesObj); int numVerticesSrc = PySequence_Size(seqVerticesObj);
@@ -6846,7 +6837,6 @@ static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVe
return numVerticesOut; return numVerticesOut;
} }
static int extractUVs(PyObject* uvsObj, double* uvs, int maxNumVertices) static int extractUVs(PyObject* uvsObj, double* uvs, int maxNumVertices)
{ {
int numUVOut = 0; int numUVOut = 0;
@@ -6887,11 +6877,11 @@ static int extractUVs(PyObject* uvsObj, double* uvs, int maxNumVertices)
} }
static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices) static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices)
{ {
int numIndicesOut=0; int numIndicesOut = 0;
if (indicesObj) if (indicesObj)
{ {
PyObject* seqIndicesObj= PySequence_Fast(indicesObj, "expected a sequence of indices"); PyObject* seqIndicesObj = PySequence_Fast(indicesObj, "expected a sequence of indices");
if (seqIndicesObj) if (seqIndicesObj)
{ {
int numIndicesSrc = PySequence_Size(seqIndicesObj); int numIndicesSrc = PySequence_Size(seqIndicesObj);
@@ -6906,7 +6896,7 @@ static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices)
} }
for (i = 0; i < numIndicesSrc; i++) for (i = 0; i < numIndicesSrc; i++)
{ {
int index = pybullet_internalGetIntFromSequence(seqIndicesObj,i); int index = pybullet_internalGetIntFromSequence(seqIndicesObj, i);
if (indices) if (indices)
{ {
indices[numIndicesOut] = index; indices[numIndicesOut] = index;
@@ -6986,23 +6976,24 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
} }
if (shapeType == GEOM_MESH && verticesObj) if (shapeType == GEOM_MESH && verticesObj)
{ {
int numVertices= extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES); int numVertices = extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES);
int numIndices= extractIndices(indicesObj, 0, B3_MAX_NUM_INDICES); int numIndices = extractIndices(indicesObj, 0, B3_MAX_NUM_INDICES);
double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0; double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0;
int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0; int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0;
numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES); numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
pybullet_internalSetVectord(meshScaleObj, meshScale); pybullet_internalSetVectord(meshScaleObj, meshScale);
if (indicesObj) if (indicesObj)
{ {
numIndices = extractIndices(indicesObj, indices,B3_MAX_NUM_INDICES); numIndices = extractIndices(indicesObj, indices, B3_MAX_NUM_INDICES);
} }
if (numIndices) if (numIndices)
{ {
shapeIndex = b3CreateCollisionShapeAddConcaveMesh(sm, commandHandle, meshScale, vertices, numVertices, indices, numIndices); shapeIndex = b3CreateCollisionShapeAddConcaveMesh(sm, commandHandle, meshScale, vertices, numVertices, indices, numIndices);
} else }
else
{ {
shapeIndex = b3CreateCollisionShapeAddConvexMesh(sm, commandHandle, meshScale, vertices, numVertices); shapeIndex = b3CreateCollisionShapeAddConvexMesh(sm, commandHandle, meshScale, vertices, numVertices);
} }
@@ -7777,12 +7768,11 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
double* batchPositions = malloc(sizeof(double) * 3 * numBatchPositions); double* batchPositions = malloc(sizeof(double) * 3 * numBatchPositions);
for (i = 0; i < numBatchPositions; i++) for (i = 0; i < numBatchPositions; i++)
{ {
pybullet_internalGetVector3FromSequence(seqBatchPositions, i, &batchPositions[3*i]); pybullet_internalGetVector3FromSequence(seqBatchPositions, i, &batchPositions[3 * i]);
} }
b3CreateMultiBodySetBatchPositions(sm, commandHandle, batchPositions, numBatchPositions); b3CreateMultiBodySetBatchPositions(sm, commandHandle, batchPositions, numBatchPositions);
free(batchPositions); free(batchPositions);
} }
for (i = 0; i < numLinkMasses; i++) for (i = 0; i < numLinkMasses; i++)
{ {
@@ -9062,7 +9052,7 @@ static PyObject* pybullet_rotateVector(PyObject* self, PyObject* args, PyObject*
int hasQuat = 0; int hasQuat = 0;
int hasVec = 0; int hasVec = 0;
static char* kwlist[] = { "quaternion", "vector", "physicsClientId", NULL }; static char* kwlist[] = {"quaternion", "vector", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatObj, &vectorObj, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatObj, &vectorObj, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9099,7 +9089,6 @@ static PyObject* pybullet_rotateVector(PyObject* self, PyObject* args, PyObject*
return Py_None; return Py_None;
} }
static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
@@ -9111,7 +9100,7 @@ static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject*
int hasQuatStart = 0; int hasQuatStart = 0;
int hasQuatEnd = 0; int hasQuatEnd = 0;
static char* kwlist[] = { "quaternionStart", "quaternionEnd", "deltaTime", "physicsClientId", NULL }; static char* kwlist[] = {"quaternionStart", "quaternionEnd", "deltaTime", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOd|i", kwlist, &quatStartObj, &quatEndObj, &deltaTime, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOd|i", kwlist, &quatStartObj, &quatEndObj, &deltaTime, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9148,8 +9137,7 @@ static PyObject* pybullet_calculateVelocityQuaternion(PyObject* self, PyObject*
return Py_None; return Py_None;
} }
static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyObject* keywds)
static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
PyObject* quatEndObj; PyObject* quatEndObj;
@@ -9160,7 +9148,7 @@ static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyO
int hasQuatStart = 0; int hasQuatStart = 0;
int hasQuatEnd = 0; int hasQuatEnd = 0;
static char* kwlist[] = { "quaternionStart", "quaternionEnd", "interpolationFraction", "physicsClientId", NULL }; static char* kwlist[] = {"quaternionStart", "quaternionEnd", "interpolationFraction", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOd|i", kwlist, &quatStartObj, &quatEndObj, &interpolationFraction, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOd|i", kwlist, &quatStartObj, &quatEndObj, &interpolationFraction, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9197,7 +9185,6 @@ static PyObject* pybullet_getQuaternionSlerp(PyObject* self, PyObject* args, PyO
return Py_None; return Py_None;
} }
static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
int physicsClientId = 0; int physicsClientId = 0;
@@ -9205,7 +9192,7 @@ static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* a
double quat[4]; double quat[4];
int hasQuat = 0; int hasQuat = 0;
static char* kwlist[] = { "quaternion", "physicsClientId", NULL }; static char* kwlist[] = {"quaternion", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "O|i", kwlist, &quatObj, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "O|i", kwlist, &quatObj, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9232,7 +9219,7 @@ static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* a
PyTuple_SetItem(pylist2, 0, axislist); PyTuple_SetItem(pylist2, 0, axislist);
} }
PyTuple_SetItem(pylist2, 1, PyFloat_FromDouble(angle)); PyTuple_SetItem(pylist2, 1, PyFloat_FromDouble(angle));
return pylist2; return pylist2;
} }
} }
@@ -9245,7 +9232,6 @@ static PyObject* pybullet_getAxisAngleFromQuaternion(PyObject* self, PyObject* a
return Py_None; return Py_None;
} }
static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* axisObj; PyObject* axisObj;
@@ -9254,8 +9240,8 @@ static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* a
int physicsClientId = 0; int physicsClientId = 0;
int hasAxis = 0; int hasAxis = 0;
static char* kwlist[] = { "axis", "angle","physicsClientId", NULL }; static char* kwlist[] = {"axis", "angle", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "Od|i", kwlist, &axisObj, &angle,&physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "Od|i", kwlist, &axisObj, &angle, &physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -9287,7 +9273,6 @@ static PyObject* pybullet_getQuaternionFromAxisAngle(PyObject* self, PyObject* a
return Py_None; return Py_None;
} }
static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
@@ -9298,7 +9283,7 @@ static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject*
int hasQuatStart = 0; int hasQuatStart = 0;
int hasQuatEnd = 0; int hasQuatEnd = 0;
static char* kwlist[] = { "quaternionStart", "quaternionEnd", "physicsClientId", NULL }; static char* kwlist[] = {"quaternionStart", "quaternionEnd", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatStartObj, &quatEndObj, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatStartObj, &quatEndObj, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9335,7 +9320,6 @@ static PyObject* pybullet_getAxisDifferenceQuaternion(PyObject* self, PyObject*
return Py_None; return Py_None;
} }
static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args, PyObject* keywds)
{ {
PyObject* quatStartObj; PyObject* quatStartObj;
@@ -9345,8 +9329,8 @@ static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args
int physicsClientId = 0; int physicsClientId = 0;
int hasQuatStart = 0; int hasQuatStart = 0;
int hasQuatEnd = 0; int hasQuatEnd = 0;
static char* kwlist[] = { "quaternionStart", "quaternionEnd", "physicsClientId", NULL }; static char* kwlist[] = {"quaternionStart", "quaternionEnd", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatStartObj, &quatEndObj, &physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist, &quatStartObj, &quatEndObj, &physicsClientId))
{ {
return NULL; return NULL;
@@ -9383,8 +9367,6 @@ static PyObject* pybullet_getDifferenceQuaternion(PyObject* self, PyObject* args
return Py_None; return Py_None;
} }
/// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo /// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo
/// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc /// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc
static PyObject* pybullet_getEulerFromQuaternion(PyObject* self, static PyObject* pybullet_getEulerFromQuaternion(PyObject* self,
@@ -9704,6 +9686,10 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
{ {
PyErr_SetString(SpamError, PyErr_SetString(SpamError,
"calculateInverseKinematics the size of input current positions needs to be equal to the number of degrees of freedom."); "calculateInverseKinematics the size of input current positions needs to be equal to the number of degrees of freedom.");
free(lowerLimits);
free(upperLimits);
free(jointRanges);
free(restPoses);
return NULL; return NULL;
} }
else else
@@ -9795,6 +9781,11 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
free(currentPositions); free(currentPositions);
free(jointDamping); free(jointDamping);
free(lowerLimits);
free(upperLimits);
free(jointRanges);
free(restPoses);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
result = b3GetStatusInverseKinematicsJointPositions(statusHandle, result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
@@ -9854,12 +9845,12 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"bodyUniqueId", "objPositions", static char* kwlist[] = {"bodyUniqueId", "objPositions",
"objVelocities", "objAccelerations", "objVelocities", "objAccelerations",
"flags", "flags",
"physicsClientId", NULL}; "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOOO|ii", kwlist, if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOOO|ii", kwlist,
&bodyUniqueId, &objPositionsQ, &bodyUniqueId, &objPositionsQ,
&objVelocitiesQdot, &objAccelerations, &objVelocitiesQdot, &objAccelerations,
&flags, &flags,
&physicsClientId)) &physicsClientId))
{ {
static char* kwlist2[] = {"bodyIndex", "objPositions", static char* kwlist2[] = {"bodyIndex", "objPositions",
@@ -9885,7 +9876,6 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
int szObVel = PySequence_Size(objVelocitiesQdot); int szObVel = PySequence_Size(objVelocitiesQdot);
int szObAcc = PySequence_Size(objAccelerations); int szObAcc = PySequence_Size(objAccelerations);
if (szObVel == szObAcc) if (szObVel == szObAcc)
{ {
int szInBytesQ = sizeof(double) * szObPos; int szInBytesQ = sizeof(double) * szObPos;
@@ -9895,7 +9885,6 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
double* jointPositionsQ = (double*)malloc(szInBytesQ); double* jointPositionsQ = (double*)malloc(szInBytesQ);
double* jointVelocitiesQdot = (double*)malloc(szInBytesQdot); double* jointVelocitiesQdot = (double*)malloc(szInBytesQdot);
double* jointAccelerations = (double*)malloc(szInBytesQdot); double* jointAccelerations = (double*)malloc(szInBytesQdot);
for (i = 0; i < szObPos; i++) for (i = 0; i < szObPos; i++)
{ {
@@ -9927,13 +9916,13 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
{ {
int bodyUniqueId; int bodyUniqueId;
int dofCount; int dofCount;
b3GetStatusInverseDynamicsJointForces(statusHandle, &bodyUniqueId,&dofCount, 0); b3GetStatusInverseDynamicsJointForces(statusHandle, &bodyUniqueId, &dofCount, 0);
if (dofCount) if (dofCount)
{ {
double* jointForcesOutput = (double*)malloc(sizeof(double) * dofCount); double* jointForcesOutput = (double*)malloc(sizeof(double) * dofCount);
b3GetStatusInverseDynamicsJointForces(statusHandle, 0, 0,jointForcesOutput); b3GetStatusInverseDynamicsJointForces(statusHandle, 0, 0, jointForcesOutput);
{ {
{ {
int i; int i;
@@ -9955,7 +9944,7 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
free(jointPositionsQ); free(jointPositionsQ);
free(jointVelocitiesQdot); free(jointVelocitiesQdot);
free(jointAccelerations); free(jointAccelerations);
if (pylist) return pylist; if (pylist) return pylist;
} }
else else
@@ -10186,11 +10175,11 @@ static PyObject* pybullet_calculateMassMatrix(PyObject* self, PyObject* args, Py
{ {
int szObPos = PySequence_Size(objPositions); int szObPos = PySequence_Size(objPositions);
///int dofCountQ = b3GetNumJoints(sm, bodyUniqueId); ///int dofCountQ = b3GetNumJoints(sm, bodyUniqueId);
if (szObPos>=0)//(szObPos == dofCountQ)) if (szObPos >= 0) //(szObPos == dofCountQ))
{ {
int byteSizeJoints = sizeof(double) * szObPos; int byteSizeJoints = sizeof(double) * szObPos;
PyObject* pyResultList=NULL; PyObject* pyResultList = NULL;
double* jointPositions = (double*)malloc(byteSizeJoints); double* jointPositions = (double*)malloc(byteSizeJoints);
double* massMatrix = NULL; double* massMatrix = NULL;
int i; int i;
@@ -10215,7 +10204,6 @@ static PyObject* pybullet_calculateMassMatrix(PyObject* self, PyObject* args, Py
if (dofCount) if (dofCount)
{ {
int byteSizeDofCount = sizeof(double) * dofCount; int byteSizeDofCount = sizeof(double) * dofCount;
massMatrix = (double*)malloc(dofCount * byteSizeDofCount); massMatrix = (double*)malloc(dofCount * byteSizeDofCount);
b3GetStatusMassMatrix(sm, statusHandle, NULL, massMatrix); b3GetStatusMassMatrix(sm, statusHandle, NULL, massMatrix);
@@ -10470,8 +10458,8 @@ static PyMethodDef SpamMethods[] = {
{"getJointState", (PyCFunction)pybullet_getJointState, METH_VARARGS | METH_KEYWORDS, {"getJointState", (PyCFunction)pybullet_getJointState, METH_VARARGS | METH_KEYWORDS,
"Get the state (position, velocity etc) for a joint on a body."}, "Get the state (position, velocity etc) for a joint on a body."},
{ "getJointStateMultiDof", (PyCFunction)pybullet_getJointStateMultiDof, METH_VARARGS | METH_KEYWORDS, {"getJointStateMultiDof", (PyCFunction)pybullet_getJointStateMultiDof, METH_VARARGS | METH_KEYWORDS,
"Get the state (position, velocity etc) for a joint on a body. (supports planar and spherical joints)" }, "Get the state (position, velocity etc) for a joint on a body. (supports planar and spherical joints)"},
{"getJointStates", (PyCFunction)pybullet_getJointStates, METH_VARARGS | METH_KEYWORDS, {"getJointStates", (PyCFunction)pybullet_getJointStates, METH_VARARGS | METH_KEYWORDS,
"Get the state (position, velocity etc) for multiple joints on a body."}, "Get the state (position, velocity etc) for multiple joints on a body."},
@@ -10492,10 +10480,10 @@ static PyMethodDef SpamMethods[] = {
"Reset the state (position, velocity etc) for a joint on a body " "Reset the state (position, velocity etc) for a joint on a body "
"instantaneously, not through physics simulation."}, "instantaneously, not through physics simulation."},
{ "resetJointStateMultiDof", (PyCFunction)pybullet_resetJointStateMultiDof, METH_VARARGS | METH_KEYWORDS, {"resetJointStateMultiDof", (PyCFunction)pybullet_resetJointStateMultiDof, METH_VARARGS | METH_KEYWORDS,
"resetJointStateMultiDof(objectUniqueId, jointIndex, targetValue, targetVelocity=0, physicsClientId=0)\n" "resetJointStateMultiDof(objectUniqueId, jointIndex, targetValue, targetVelocity=0, physicsClientId=0)\n"
"Reset the state (position, velocity etc) for a joint on a body " "Reset the state (position, velocity etc) for a joint on a body "
"instantaneously, not through physics simulation." }, "instantaneously, not through physics simulation."},
{"changeDynamics", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS, {"changeDynamics", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
"change dynamics information such as mass, lateral friction coefficient."}, "change dynamics information such as mass, lateral friction coefficient."},
@@ -10512,10 +10500,10 @@ static PyMethodDef SpamMethods[] = {
"Set a single joint motor control mode and desired target value. There is " "Set a single joint motor control mode and desired target value. There is "
"no immediate state change, stepSimulation will process the motors."}, "no immediate state change, stepSimulation will process the motors."},
{ "setJointMotorControlMultiDof", (PyCFunction)pybullet_setJointMotorControlMultiDof, METH_VARARGS | METH_KEYWORDS, {"setJointMotorControlMultiDof", (PyCFunction)pybullet_setJointMotorControlMultiDof, METH_VARARGS | METH_KEYWORDS,
"Set a single joint motor control mode and desired target value. There is " "Set a single joint motor control mode and desired target value. There is "
"no immediate state change, stepSimulation will process the motors." "no immediate state change, stepSimulation will process the motors."
"This method sets multi-degree-of-freedom motor such as the spherical joint motor." }, "This method sets multi-degree-of-freedom motor such as the spherical joint motor."},
{"setJointMotorControlArray", (PyCFunction)pybullet_setJointMotorControlArray, METH_VARARGS | METH_KEYWORDS, {"setJointMotorControlArray", (PyCFunction)pybullet_setJointMotorControlArray, METH_VARARGS | METH_KEYWORDS,
"Set an array of motors control mode and desired target value. There is " "Set an array of motors control mode and desired target value. There is "
@@ -10650,30 +10638,26 @@ static PyMethodDef SpamMethods[] = {
{"getMatrixFromQuaternion", (PyCFunction)pybullet_getMatrixFromQuaternion, METH_VARARGS | METH_KEYWORDS, {"getMatrixFromQuaternion", (PyCFunction)pybullet_getMatrixFromQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the 3x3 matrix from a quaternion, as a list of 9 values (row-major)"}, "Compute the 3x3 matrix from a quaternion, as a list of 9 values (row-major)"},
{ "getQuaternionSlerp", (PyCFunction)pybullet_getQuaternionSlerp, METH_VARARGS | METH_KEYWORDS, {"getQuaternionSlerp", (PyCFunction)pybullet_getQuaternionSlerp, METH_VARARGS | METH_KEYWORDS,
"Compute the spherical interpolation given a start and end quaternion and an interpolation value in range [0..1]" }, "Compute the spherical interpolation given a start and end quaternion and an interpolation value in range [0..1]"},
{ "getQuaternionFromAxisAngle", (PyCFunction)pybullet_getQuaternionFromAxisAngle, METH_VARARGS | METH_KEYWORDS, {"getQuaternionFromAxisAngle", (PyCFunction)pybullet_getQuaternionFromAxisAngle, METH_VARARGS | METH_KEYWORDS,
"Compute the quaternion from axis and angle representation." }, "Compute the quaternion from axis and angle representation."},
{ "getAxisAngleFromQuaternion", (PyCFunction)pybullet_getAxisAngleFromQuaternion, METH_VARARGS | METH_KEYWORDS, {"getAxisAngleFromQuaternion", (PyCFunction)pybullet_getAxisAngleFromQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the quaternion from axis and angle representation." }, "Compute the quaternion from axis and angle representation."},
{ "getDifferenceQuaternion", (PyCFunction)pybullet_getDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS, {"getDifferenceQuaternion", (PyCFunction)pybullet_getDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the quaternion difference from two quaternions." }, "Compute the quaternion difference from two quaternions."},
{ "getAxisDifferenceQuaternion", (PyCFunction)pybullet_getAxisDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS, {"getAxisDifferenceQuaternion", (PyCFunction)pybullet_getAxisDifferenceQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the velocity axis difference from two quaternions." }, "Compute the velocity axis difference from two quaternions."},
{"calculateVelocityQuaternion", (PyCFunction)pybullet_calculateVelocityQuaternion, METH_VARARGS | METH_KEYWORDS,
"Compute the angular velocity given start and end quaternion and delta time."},
{ "calculateVelocityQuaternion", (PyCFunction)pybullet_calculateVelocityQuaternion, METH_VARARGS | METH_KEYWORDS, {"rotateVector", (PyCFunction)pybullet_rotateVector, METH_VARARGS | METH_KEYWORDS,
"Compute the angular velocity given start and end quaternion and delta time." }, "Rotate a vector using a quaternion."},
{ "rotateVector", (PyCFunction)pybullet_rotateVector, METH_VARARGS | METH_KEYWORDS,
"Rotate a vector using a quaternion." },
{"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS | METH_KEYWORDS, {"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS | METH_KEYWORDS,
"Given an object id, joint positions, joint velocities and joint " "Given an object id, joint positions, joint velocities and joint "
@@ -10971,8 +10955,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_COLORS_FROM_MTL", URDF_USE_MATERIAL_COLORS_FROM_MTL); PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_COLORS_FROM_MTL", URDF_USE_MATERIAL_COLORS_FROM_MTL);
PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL", URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL); PyModule_AddIntConstant(m, "URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL", URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL);
PyModule_AddIntConstant(m, "URDF_MAINTAIN_LINK_ORDER", URDF_MAINTAIN_LINK_ORDER); PyModule_AddIntConstant(m, "URDF_MAINTAIN_LINK_ORDER", URDF_MAINTAIN_LINK_ORDER);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_ENABLE_SLEEPING", eActivationStateEnableSleeping); PyModule_AddIntConstant(m, "ACTIVATION_STATE_ENABLE_SLEEPING", eActivationStateEnableSleeping);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_DISABLE_SLEEPING", eActivationStateDisableSleeping); PyModule_AddIntConstant(m, "ACTIVATION_STATE_DISABLE_SLEEPING", eActivationStateDisableSleeping);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_WAKE_UP", eActivationStateWakeUp); PyModule_AddIntConstant(m, "ACTIVATION_STATE_WAKE_UP", eActivationStateWakeUp);
@@ -11039,9 +11022,9 @@ initpybullet(void)
PyModule_AddIntConstant(m, "AddFileIOAction", eAddFileIOAction); PyModule_AddIntConstant(m, "AddFileIOAction", eAddFileIOAction);
PyModule_AddIntConstant(m, "RemoveFileIOAction", eRemoveFileIOAction); PyModule_AddIntConstant(m, "RemoveFileIOAction", eRemoveFileIOAction);
PyModule_AddIntConstant(m, "PosixFileIO", ePosixFileIO ); PyModule_AddIntConstant(m, "PosixFileIO", ePosixFileIO);
PyModule_AddIntConstant(m, "ZipFileIO", eZipFileIO ); PyModule_AddIntConstant(m, "ZipFileIO", eZipFileIO);
PyModule_AddIntConstant(m, "CNSFileIO", eCNSFileIO ); PyModule_AddIntConstant(m, "CNSFileIO", eCNSFileIO);
SpamError = PyErr_NewException("pybullet.error", NULL, NULL); SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
Py_INCREF(SpamError); Py_INCREF(SpamError);