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Merge pull request #3963 from erwincoumans/master

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revert linkNames in createMultiBody, we cannot pass pointers pointing… …
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erwincoumans 2021-09-20 13:07:30 -07:00 committed by GitHub
commit 47c3f5e994
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10 changed files with 14 additions and 30 deletions
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2
VERSION
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@ -1 +1 @@
3.17
3.18

5
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -2160,8 +2160,7 @@ B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandl
const double linkInertialFrameOrientation[4],
int linkParentIndex,
int linkJointType,
const double linkJointAxis[3],
const char* const linkName)
const double linkJointAxis[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
@ -2206,7 +2205,7 @@ B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandl
command->m_createMultiBodyArgs.m_linkJointAxis[3 * linkIndex + 2] = linkJointAxis[2];
command->m_createMultiBodyArgs.m_linkMasses[linkIndex] = linkMass;
command->m_createMultiBodyArgs.m_linkNames[linkIndex] = linkName;
command->m_createMultiBodyArgs.m_numLinks++;
return numLinks;
}

3
examples/SharedMemory/PhysicsClientC_API.h
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@ -564,8 +564,7 @@ extern "C"
const double linkInertialFrameOrientation[/*4*/],
int linkParentIndex,
int linkJointType,
const double linkJointAxis[/*3*/],
const char* const linkName);
const double linkJointAxis[/*3*/]);
//batch creation is an performance feature to create a large number of multi bodies in one command
B3_SHARED_API int b3CreateMultiBodySetBatchPositions(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, double* batchPositions, int numBatchObjects);

11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -2250,11 +2250,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const
{
// Allow user overrides on default-created link names.
if(m_createBodyArgs.m_linkNames[linkIndex] != 0
&& strlen(m_createBodyArgs.m_linkNames[linkIndex]) > 0){
return std::string(m_createBodyArgs.m_linkNames[linkIndex]);
}
std::string linkName = "link";
char numstr[21]; // enough to hold all numbers up to 64-bits
sprintf(numstr, "%d", linkIndex);
@ -2332,11 +2328,6 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
virtual std::string getJointName(int linkIndex) const
{
// Allow user overrides on default-created joint names.
if(m_createBodyArgs.m_linkNames[linkIndex] != 0
&& strlen(m_createBodyArgs.m_linkNames[linkIndex]) > 0){
return std::string(m_createBodyArgs.m_linkNames[linkIndex]);
}
std::string jointName = "joint";
char numstr[21]; // enough to hold all numbers up to 64-bits
sprintf(numstr, "%d", linkIndex);

1
examples/SharedMemory/SharedMemoryCommands.h
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@ -1066,7 +1066,6 @@ struct b3CreateMultiBodyArgs
int m_flags;
int m_numBatchObjects;
const char* m_linkNames[MAX_CREATE_MULTI_BODY_LINKS];
};
struct b3CreateMultiBodyResultArgs

3
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@ -2431,8 +2431,7 @@ int b3RobotSimulatorClientAPI_NoDirect::createMultiBody(struct b3RobotSimulatorC
doubleLinkInertialFrameOrientation,
linkParentIndex,
linkJointType,
doubleLinkJointAxis,
0);
doubleLinkJointAxis);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);

13
examples/pybullet/pybullet.c
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@ -9596,19 +9596,19 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
PyObject* linkInertialFramePositionObj = 0;
PyObject* linkInertialFrameOrientationObj = 0;
PyObject* objBatchPositions = 0;
PyObject* linkNamesObj = 0;
static char* kwlist[] = {
"baseMass", "baseCollisionShapeIndex", "baseVisualShapeIndex", "basePosition", "baseOrientation",
"baseInertialFramePosition", "baseInertialFrameOrientation", "linkMasses", "linkCollisionShapeIndices",
"linkVisualShapeIndices", "linkPositions", "linkOrientations", "linkInertialFramePositions", "linkInertialFrameOrientations", "linkParentIndices",
"linkJointTypes", "linkJointAxis", "useMaximalCoordinates", "flags", "batchPositions", "linkNames", "physicsClientId", NULL};
"linkJointTypes", "linkJointAxis", "useMaximalCoordinates", "flags", "batchPositions", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOiiOOi", kwlist,
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOiiOi", kwlist,
&baseMass, &baseCollisionShapeIndex, &baseVisualShapeIndex, &basePosObj, &baseOrnObj,
&baseInertialFramePositionObj, &baseInertialFrameOrientationObj, &linkMassesObj, &linkCollisionShapeIndicesObj,
&linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj, &linkInertialFramePositionObj, &linkInertialFrameOrientationObj, &linkParentIndicesObj,
&linkJointTypesObj, &linkJointAxisObj, &useMaximalCoordinates, &flags, &objBatchPositions, &linkNamesObj, &physicsClientId))
&linkJointTypesObj, &linkJointAxisObj, &useMaximalCoordinates, &flags, &objBatchPositions, &physicsClientId))
{
return NULL;
}
@ -9645,7 +9645,6 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
PyObject* seqLinkInertialFrameOrientations = linkInertialFrameOrientationObj ? PySequence_Fast(linkInertialFrameOrientationObj, "expected a sequence") : 0;
PyObject* seqBatchPositions = objBatchPositions ? PySequence_Fast(objBatchPositions, "expected a sequence") : 0;
PyObject* seqLinkNames = linkNamesObj ? PySequence_Fast(linkNamesObj, "expected a sequence") : 0;
if ((numLinkMasses == numLinkCollisionShapes) &&
(numLinkMasses == numLinkVisualShapes) &&
@ -9705,7 +9704,6 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
pybullet_internalGetVector3FromSequence(seqLinkJoinAxis, i, linkJointAxis);
linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices, i);
linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes, i);
linkName = seqLinkNames? pybullet_internalGetCStringFromSequence(seqLinkNames, i) : 0;
b3CreateMultiBodyLink(commandHandle,
linkMass,
@ -9717,8 +9715,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
linkInertialFrameOrientation,
linkParentIndex,
linkJointType,
linkJointAxis,
linkName);
linkJointAxis);
}
if (seqLinkMasses)

2
setup.py
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@ -501,7 +501,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
setup(
name='pybullet',
version='3.1.7',
version='3.1.8',
description=
'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
long_description=

2
src/LinearMath/btScalar.h
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@ -25,7 +25,7 @@ subject to the following restrictions:
#include <float.h>
/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
#define BT_BULLET_VERSION 317
#define BT_BULLET_VERSION 318
inline int btGetVersion()
{

2
src/LinearMath/btSerializer.h
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@ -481,7 +481,7 @@ public:
buffer[9] = '3';
buffer[10] = '1';
buffer[11] = '7';
buffer[11] = '8';
}
virtual void startSerialization()