Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

expose PyBullet API to wakeup/put objects to sleep, enable/disable deactivation

Browse Source 
fix wakeup -> reset deactivation clock
This commit is contained in:
Erwin Coumans
2018-06-15 21:26:26 -07:00
parent bb0d70d98b
commit fbbd675ed6
8 changed files with 86 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
examples/pybullet/pybullet.c
View File

@@ -1183,14 +1183,15 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
double ccdSweptSphereRadius=-1;
int frictionAnchor = -1;
double contactProcessingThreshold = -1;
int activationState = -1;
PyObject* localInertiaDiagonalObj=0;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold, &physicsClientId))
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "contactProcessingThreshold", "activationState", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOddii", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &contactProcessingThreshold,&activationState, &physicsClientId))
{
return NULL;
}
@@ -1260,6 +1261,10 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
{
b3ChangeDynamicsInfoSetCcdSweptSphereRadius(command,bodyUniqueId,linkIndex, ccdSweptSphereRadius);
}
if (activationState >= 0)
{
b3ChangeDynamicsInfoSetActivationState(command, bodyUniqueId, activationState);
}
if (contactProcessingThreshold >= 0)
{
b3ChangeDynamicsInfoSetContactProcessingThreshold(command, bodyUniqueId, linkIndex, contactProcessingThreshold);
@@ -9617,7 +9622,11 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_ENABLE_CACHED_GRAPHICS_SHAPES", URDF_ENABLE_CACHED_GRAPHICS_SHAPES);
PyModule_AddIntConstant(m, "URDF_ENABLE_SLEEPING", URDF_ENABLE_SLEEPING);
PyModule_AddIntConstant(m, "URDF_INITIALIZE_SAT_FEATURES", URDF_INITIALIZE_SAT_FEATURES);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_ENABLE_SLEEPING", eActivationStateEnableSleeping);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_DISABLE_SLEEPING", eActivationStateDisableSleeping);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_WAKE_UP", eActivationStateWakeUp);
PyModule_AddIntConstant(m, "ACTIVATION_STATE_SLEEP", eActivationStateSleep);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);