AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-14 05:40:05 +00:00
Code Issues Releases Wiki Activity

fix a c99 issue in pybullet

Browse Source
This commit is contained in:
erwincoumans 2016-06-21 09:01:27 -07:00 committed by GitHub
parent 08b88c445a
commit 0b249361c2
1 changed files with 2 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
examples/pybullet/pybullet.c
View File

@ -302,6 +302,7 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
len = PySequence_Size(targetValues);
numJoints = b3GetNumJoints(sm,bodyIndex);
b3SharedMemoryCommandHandle commandHandle;
int qIndex;
if (len!=numJoints)
{
@ -321,7 +322,7 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
commandHandle = b3JointControlCommandInit(sm, bodyIndex,controlMode);
for (int qIndex=0;qIndex<numJoints;qIndex++)
for (qIndex=0;qIndex<numJoints;qIndex++)
{
float value = pybullet_internalGetFloatFromSequence(seq,qIndex);
@ -360,24 +361,6 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
return NULL;
}
/*
///Set joint control variables such as desired position/angle, desired velocity,
///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
//Only use when controlMode is CONTROL_MODE_VELOCITY
int b3JointControlSetDesiredVelocity(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
// find a better name for dof/q/u indices, point to b3JointInfo
int b3JointControlSetMaximumForce(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
///Only use if when controlMode is CONTROL_MODE_TORQUE,
int b3JointControlSetDesiredForceTorque(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
*/
// Set the gravity of the world with (x, y, z) arguments
static PyObject *