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fix pybullet build on some MSVC versions

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This commit is contained in:
erwincoumans
2017-05-28 09:48:12 -07:00
parent b645963879
commit f9c53b39a2
1 changed files with 13 additions and 7 deletions
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20
examples/pybullet/pybullet.c
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@@ -695,7 +695,7 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje
int status_type = 0; int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle; b3SharedMemoryCommandHandle cmd_handle;
b3SharedMemoryStatusHandle status_handle; b3SharedMemoryStatusHandle status_handle;
struct b3DynamicsInfo info;
if (bodyUniqueId < 0) if (bodyUniqueId < 0)
{ {
PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid bodyUniqueId"); PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid bodyUniqueId");
@@ -714,7 +714,7 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje
PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid return status"); PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid return status");
return NULL; return NULL;
} }
struct b3DynamicsInfo info;
if (b3GetDynamicsInfo(status_handle, &info)) if (b3GetDynamicsInfo(status_handle, &info))
{ {
PyObject* pyDynamicsInfo = PyTuple_New(2); PyObject* pyDynamicsInfo = PyTuple_New(2);
@@ -1450,33 +1450,39 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
for (i=0;i<numControlledDofs;i++) for (i=0;i<numControlledDofs;i++)
{ {
double targetVelocity = 0.0; double targetVelocity = 0.0;
double targetPosition = 0.0;
double force = 100000.0;
double kp = 0.1;
double kd = 1.0;
int jointIndex;
if (targetVelocitiesSeq) if (targetVelocitiesSeq)
{ {
targetVelocity = pybullet_internalGetFloatFromSequence(targetVelocitiesSeq, i); targetVelocity = pybullet_internalGetFloatFromSequence(targetVelocitiesSeq, i);
} }
double targetPosition = 0.0;
if (targetPositionsSeq) if (targetPositionsSeq)
{ {
targetPosition = pybullet_internalGetFloatFromSequence(targetPositionsSeq, i); targetPosition = pybullet_internalGetFloatFromSequence(targetPositionsSeq, i);
} }
double force = 100000.0;
if (forcesSeq) if (forcesSeq)
{ {
force = pybullet_internalGetFloatFromSequence(forcesSeq, i); force = pybullet_internalGetFloatFromSequence(forcesSeq, i);
} }
double kp = 0.1;
if (kpsSeq) if (kpsSeq)
{ {
kp = pybullet_internalGetFloatFromSequence(kpsSeq, i); kp = pybullet_internalGetFloatFromSequence(kpsSeq, i);
} }
double kd = 1.0;
if (kdsSeq) if (kdsSeq)
{ {
kd = pybullet_internalGetFloatFromSequence(kdsSeq, i); kd = pybullet_internalGetFloatFromSequence(kdsSeq, i);
} }
int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i); jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
b3GetJointInfo(sm, bodyIndex, jointIndex, &info); b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
switch (controlMode) switch (controlMode)