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re-introduce old method in pybullet for temporary back-wards compatibility

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b3JointControlCommandInit requires 3 args, but it was only 2,
use b3JointControlCommandInit2 for now.
This commit is contained in:
Erwin Coumans 2016-06-23 08:40:36 -07:00
parent 8b96e2de3c
commit 2cd0eba257
4 changed files with 15 additions and 5 deletions
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7
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -151,7 +151,12 @@ b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHand
}
b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode)
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode)
{
return b3JointControlCommandInit2(physClient,0,controlMode);
}
b3SharedMemoryCommandHandle b3JointControlCommandInit2( b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);

9
examples/SharedMemory/PhysicsClientC_API.h
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@ -95,10 +95,15 @@ int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
///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 bodyUniqueId, int controlMode);
///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
b3SharedMemoryCommandHandle b3JointControlCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId, 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);

2
examples/SharedMemory/PhysicsClientExample.cpp
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@ -377,7 +377,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
if (m_selectedBody>=0)
{
// b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_physicsClientHandle, m_selectedBody, CONTROL_MODE_VELOCITY);
b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_physicsClientHandle, m_selectedBody, CONTROL_MODE_POSITION_VELOCITY_PD);
b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_physicsClientHandle, m_selectedBody, CONTROL_MODE_POSITION_VELOCITY_PD);
// b3Printf("prepare control command for body %d", m_selectedBody);
prepareControlCommand(command);

2
examples/pybullet/pybullet.c
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@ -327,7 +327,7 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
return NULL;
}
commandHandle = b3JointControlCommandInit(sm, bodyIndex,controlMode);
commandHandle = b3JointControlCommandInit2(sm, bodyIndex,controlMode);
for (qIndex=0;qIndex<numJoints;qIndex++)
{