Merge pull request #2359 from erwincoumans/master
premake add enable_stable_pd option, so Bullet can be compiled withou…
This commit is contained in:
erwincoumans
GitHub
@@ -4319,6 +4319,12 @@ static PyObject* pybullet_resetJointStatesMultiDof(PyObject* self, PyObject* arg
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targetVelocitiesSeq = PySequence_Fast(targetVelocitiesObj, "expected a sequence of target positions");
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for (i = 0; i < numIndices; i++)
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{
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double targetPositionArray[4] = { 0, 0, 0, 1 };
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double targetVelocityArray[3] = { 0, 0, 0 };
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int targetPositionSize = 0;
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int targetVelocitySize = 0;
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PyObject* targetPositionObj = 0;
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PyObject* targetVelocityObj = 0;
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int jointIndex = pybullet_internalGetIntFromSequence(jointIndicesSeq, i);
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if ((jointIndex >= numJoints) || (jointIndex < 0))
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@@ -4333,12 +4339,7 @@ static PyObject* pybullet_resetJointStatesMultiDof(PyObject* self, PyObject* arg
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}
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double targetPositionArray[4] = { 0, 0, 0, 1 };
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double targetVelocityArray[3] = { 0, 0, 0 };
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int targetPositionSize = 0;
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int targetVelocitySize = 0;
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PyObject* targetPositionObj = 0;
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PyObject* targetVelocityObj = 0;
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if (numTargetPositionObjs > 0)
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@@ -6069,6 +6070,7 @@ static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, Py
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b3PhysicsClientHandle sm = 0;
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static char* kwlist[] = {"eventName ", "physicsClientId", NULL};
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int physicsClientId = 0;
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b3SharedMemoryCommandHandle commandHandle;
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "|si", kwlist,
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&eventName, &physicsClientId))
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@@ -6080,7 +6082,7 @@ static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, Py
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PyErr_SetString(SpamError, "Not connected to physics server.");
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return NULL;
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}
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b3SharedMemoryCommandHandle commandHandle;
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commandHandle = b3ProfileTimingCommandInit(sm, eventName);
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if (eventName)
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@@ -10979,10 +10981,12 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
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}
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{
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int numEndEffectorPositions = extractVertices(targetPosObj, 0, B3_MAX_NUM_END_EFFECTORS);
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int numIndices = extractIndices(endEffectorLinkIndicesObj, 0, B3_MAX_NUM_END_EFFECTORS);
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double* positions = numEndEffectorPositions ? malloc(numEndEffectorPositions * 3 * sizeof(double)) : 0;
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int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0;
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numEndEffectorPositions = extractVertices(targetPosObj, positions, B3_MAX_NUM_VERTICES);
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if (endEffectorLinkIndicesObj)
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@@ -10990,197 +10994,199 @@ static PyObject* pybullet_calculateInverseKinematics2(PyObject* self,
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numIndices = extractIndices(endEffectorLinkIndicesObj, indices, B3_MAX_NUM_INDICES);
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}
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double pos[3] = { 0, 0, 0 };
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double ori[4] = { 0, 0, 0, 1 };
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int hasPos = numEndEffectorPositions > 0;
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int hasOrn = 0;// pybullet_internalSetVector4d(targetOrnObj, ori);
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int szLowerLimits = lowerLimitsObj ? PySequence_Size(lowerLimitsObj) : 0;
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int szUpperLimits = upperLimitsObj ? PySequence_Size(upperLimitsObj) : 0;
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int szJointRanges = jointRangesObj ? PySequence_Size(jointRangesObj) : 0;
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int szRestPoses = restPosesObj ? PySequence_Size(restPosesObj) : 0;
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int szJointDamping = jointDampingObj ? PySequence_Size(jointDampingObj) : 0;
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int szCurrentPositions = currentPositionsObj ? PySequence_Size(currentPositionsObj) : 0;
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int numJoints = b3GetNumJoints(sm, bodyUniqueId);
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int dofCount = b3ComputeDofCount(sm, bodyUniqueId);
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int hasNullSpace = 0;
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int hasJointDamping = 0;
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int hasCurrentPositions = 0;
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double* lowerLimits = 0;
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double* upperLimits = 0;
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double* jointRanges = 0;
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double* restPoses = 0;
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double* jointDamping = 0;
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double* currentPositions = 0;
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if (dofCount && (szLowerLimits == dofCount) && (szUpperLimits == dofCount) &&
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(szJointRanges == dofCount) && (szRestPoses == dofCount))
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{
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int szInBytes = sizeof(double) * dofCount;
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int i;
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lowerLimits = (double*)malloc(szInBytes);
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upperLimits = (double*)malloc(szInBytes);
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jointRanges = (double*)malloc(szInBytes);
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restPoses = (double*)malloc(szInBytes);
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double pos[3] = { 0, 0, 0 };
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double ori[4] = { 0, 0, 0, 1 };
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int hasPos = numEndEffectorPositions > 0;
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int hasOrn = 0;// pybullet_internalSetVector4d(targetOrnObj, ori);
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for (i = 0; i < dofCount; i++)
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int szLowerLimits = lowerLimitsObj ? PySequence_Size(lowerLimitsObj) : 0;
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int szUpperLimits = upperLimitsObj ? PySequence_Size(upperLimitsObj) : 0;
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int szJointRanges = jointRangesObj ? PySequence_Size(jointRangesObj) : 0;
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int szRestPoses = restPosesObj ? PySequence_Size(restPosesObj) : 0;
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int szJointDamping = jointDampingObj ? PySequence_Size(jointDampingObj) : 0;
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int szCurrentPositions = currentPositionsObj ? PySequence_Size(currentPositionsObj) : 0;
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int numJoints = b3GetNumJoints(sm, bodyUniqueId);
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int dofCount = b3ComputeDofCount(sm, bodyUniqueId);
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int hasNullSpace = 0;
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int hasJointDamping = 0;
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int hasCurrentPositions = 0;
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double* lowerLimits = 0;
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double* upperLimits = 0;
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double* jointRanges = 0;
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double* restPoses = 0;
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double* jointDamping = 0;
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double* currentPositions = 0;
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if (dofCount && (szLowerLimits == dofCount) && (szUpperLimits == dofCount) &&
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(szJointRanges == dofCount) && (szRestPoses == dofCount))
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{
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lowerLimits[i] = pybullet_internalGetFloatFromSequence(lowerLimitsObj, i);
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upperLimits[i] = pybullet_internalGetFloatFromSequence(upperLimitsObj, i);
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jointRanges[i] = pybullet_internalGetFloatFromSequence(jointRangesObj, i);
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restPoses[i] = pybullet_internalGetFloatFromSequence(restPosesObj, i);
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int szInBytes = sizeof(double) * dofCount;
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int i;
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lowerLimits = (double*)malloc(szInBytes);
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upperLimits = (double*)malloc(szInBytes);
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jointRanges = (double*)malloc(szInBytes);
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restPoses = (double*)malloc(szInBytes);
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for (i = 0; i < dofCount; i++)
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{
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lowerLimits[i] = pybullet_internalGetFloatFromSequence(lowerLimitsObj, i);
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upperLimits[i] = pybullet_internalGetFloatFromSequence(upperLimitsObj, i);
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jointRanges[i] = pybullet_internalGetFloatFromSequence(jointRangesObj, i);
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restPoses[i] = pybullet_internalGetFloatFromSequence(restPosesObj, i);
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}
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hasNullSpace = 1;
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}
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hasNullSpace = 1;
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}
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if (szCurrentPositions > 0)
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{
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if (szCurrentPositions != dofCount)
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if (szCurrentPositions > 0)
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{
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PyErr_SetString(SpamError,
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"calculateInverseKinematics the size of input current positions needs to be equal to the number of degrees of freedom.");
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if (szCurrentPositions != dofCount)
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{
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PyErr_SetString(SpamError,
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"calculateInverseKinematics the size of input current positions needs to be equal to the number of degrees of freedom.");
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free(lowerLimits);
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free(upperLimits);
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free(jointRanges);
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free(restPoses);
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return NULL;
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}
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else
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{
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int szInBytes = sizeof(double) * szCurrentPositions;
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int i;
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currentPositions = (double*)malloc(szInBytes);
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for (i = 0; i < szCurrentPositions; i++)
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{
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currentPositions[i] = pybullet_internalGetFloatFromSequence(currentPositionsObj, i);
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}
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hasCurrentPositions = 1;
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}
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}
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if (szJointDamping > 0)
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{
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if (szJointDamping < dofCount)
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{
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printf("calculateInverseKinematics: the size of input joint damping values should be equal to the number of degrees of freedom, not using joint damping.");
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}
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else
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{
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int szInBytes = sizeof(double) * szJointDamping;
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int i;
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//if (szJointDamping != dofCount)
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//{
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// printf("calculateInverseKinematics: the size of input joint damping values should be equal to the number of degrees of freedom, ignoring the additonal values.");
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//}
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jointDamping = (double*)malloc(szInBytes);
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for (i = 0; i < szJointDamping; i++)
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{
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jointDamping[i] = pybullet_internalGetFloatFromSequence(jointDampingObj, i);
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}
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hasJointDamping = 1;
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}
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}
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if (hasPos)
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{
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b3SharedMemoryStatusHandle statusHandle;
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int numPos = 0;
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int resultBodyIndex;
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int result;
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b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(sm, bodyUniqueId);
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b3CalculateInverseKinematicsSelectSolver(command, solver);
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if (hasCurrentPositions)
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{
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b3CalculateInverseKinematicsSetCurrentPositions(command, dofCount, currentPositions);
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}
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if (maxNumIterations > 0)
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{
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b3CalculateInverseKinematicsSetMaxNumIterations(command, maxNumIterations);
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}
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if (residualThreshold >= 0)
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{
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b3CalculateInverseKinematicsSetResidualThreshold(command, residualThreshold);
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}
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if (hasNullSpace)
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{
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if (hasOrn)
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{
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b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(command, dofCount, endEffectorLinkIndex, pos, ori, lowerLimits, upperLimits, jointRanges, restPoses);
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}
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else
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{
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b3CalculateInverseKinematicsPosWithNullSpaceVel(command, dofCount, endEffectorLinkIndex, pos, lowerLimits, upperLimits, jointRanges, restPoses);
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}
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}
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else
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{
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if (hasOrn)
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{
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b3CalculateInverseKinematicsAddTargetPositionWithOrientation(command, endEffectorLinkIndex, pos, ori);
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}
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else
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{
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//b3CalculateInverseKinematicsAddTargetPurePosition(command, endEffectorLinkIndex, pos);
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b3CalculateInverseKinematicsAddTargetsPurePosition(command, numEndEffectorPositions, indices, positions);
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}
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}
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if (hasJointDamping)
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{
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b3CalculateInverseKinematicsSetJointDamping(command, dofCount, jointDamping);
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}
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free(currentPositions);
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free(jointDamping);
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free(lowerLimits);
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free(upperLimits);
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free(jointRanges);
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free(restPoses);
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return NULL;
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}
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else
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{
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int szInBytes = sizeof(double) * szCurrentPositions;
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int i;
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currentPositions = (double*)malloc(szInBytes);
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for (i = 0; i < szCurrentPositions; i++)
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{
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currentPositions[i] = pybullet_internalGetFloatFromSequence(currentPositionsObj, i);
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}
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hasCurrentPositions = 1;
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}
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}
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if (szJointDamping > 0)
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{
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if (szJointDamping < dofCount)
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{
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printf("calculateInverseKinematics: the size of input joint damping values should be equal to the number of degrees of freedom, not using joint damping.");
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}
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else
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{
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int szInBytes = sizeof(double) * szJointDamping;
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int i;
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//if (szJointDamping != dofCount)
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//{
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// printf("calculateInverseKinematics: the size of input joint damping values should be equal to the number of degrees of freedom, ignoring the additonal values.");
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//}
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jointDamping = (double*)malloc(szInBytes);
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for (i = 0; i < szJointDamping; i++)
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{
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jointDamping[i] = pybullet_internalGetFloatFromSequence(jointDampingObj, i);
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}
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hasJointDamping = 1;
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}
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}
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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if (hasPos)
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{
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b3SharedMemoryStatusHandle statusHandle;
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int numPos = 0;
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int resultBodyIndex;
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int result;
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b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(sm, bodyUniqueId);
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b3CalculateInverseKinematicsSelectSolver(command, solver);
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if (hasCurrentPositions)
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{
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b3CalculateInverseKinematicsSetCurrentPositions(command, dofCount, currentPositions);
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}
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if (maxNumIterations > 0)
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{
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b3CalculateInverseKinematicsSetMaxNumIterations(command, maxNumIterations);
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}
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if (residualThreshold >= 0)
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{
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b3CalculateInverseKinematicsSetResidualThreshold(command, residualThreshold);
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}
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if (hasNullSpace)
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{
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if (hasOrn)
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{
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b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(command, dofCount, endEffectorLinkIndex, pos, ori, lowerLimits, upperLimits, jointRanges, restPoses);
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}
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else
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{
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b3CalculateInverseKinematicsPosWithNullSpaceVel(command, dofCount, endEffectorLinkIndex, pos, lowerLimits, upperLimits, jointRanges, restPoses);
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}
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}
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else
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{
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if (hasOrn)
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{
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b3CalculateInverseKinematicsAddTargetPositionWithOrientation(command, endEffectorLinkIndex, pos, ori);
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}
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else
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{
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//b3CalculateInverseKinematicsAddTargetPurePosition(command, endEffectorLinkIndex, pos);
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b3CalculateInverseKinematicsAddTargetsPurePosition(command, numEndEffectorPositions, indices, positions);
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}
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}
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if (hasJointDamping)
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{
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b3CalculateInverseKinematicsSetJointDamping(command, dofCount, jointDamping);
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}
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free(currentPositions);
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free(jointDamping);
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free(lowerLimits);
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free(upperLimits);
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free(jointRanges);
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free(restPoses);
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
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&resultBodyIndex,
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&numPos,
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0);
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if (result && numPos)
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{
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int i;
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PyObject* pylist;
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double* ikOutPutJointPos = (double*)malloc(numPos * sizeof(double));
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result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
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&resultBodyIndex,
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&numPos,
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ikOutPutJointPos);
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pylist = PyTuple_New(numPos);
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for (i = 0; i < numPos; i++)
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0);
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if (result && numPos)
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{
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PyTuple_SetItem(pylist, i,
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PyFloat_FromDouble(ikOutPutJointPos[i]));
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}
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int i;
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PyObject* pylist;
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double* ikOutPutJointPos = (double*)malloc(numPos * sizeof(double));
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result = b3GetStatusInverseKinematicsJointPositions(statusHandle,
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&resultBodyIndex,
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&numPos,
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ikOutPutJointPos);
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pylist = PyTuple_New(numPos);
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for (i = 0; i < numPos; i++)
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{
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PyTuple_SetItem(pylist, i,
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PyFloat_FromDouble(ikOutPutJointPos[i]));
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}
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free(ikOutPutJointPos);
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return pylist;
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free(ikOutPutJointPos);
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return pylist;
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}
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else
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{
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PyErr_SetString(SpamError,
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"Error in calculateInverseKinematics");
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return NULL;
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}
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}
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else
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{
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PyErr_SetString(SpamError,
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"Error in calculateInverseKinematics");
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"calculateInverseKinematics couldn't extract position vector3");
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return NULL;
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}
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}
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else
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{
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PyErr_SetString(SpamError,
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"calculateInverseKinematics couldn't extract position vector3");
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return NULL;
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}
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}
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Py_INCREF(Py_None);
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