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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], const double linkInertialFrameOrientation[4],
int linkParentIndex, int linkParentIndex,
int linkJointType, int linkJointType,
const double linkJointAxis[3], const double linkJointAxis[3])
const char* const linkName)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command); 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_linkJointAxis[3 * linkIndex + 2] = linkJointAxis[2];
command->m_createMultiBodyArgs.m_linkMasses[linkIndex] = linkMass; command->m_createMultiBodyArgs.m_linkMasses[linkIndex] = linkMass;
command->m_createMultiBodyArgs.m_linkNames[linkIndex] = linkName;
command->m_createMultiBodyArgs.m_numLinks++; command->m_createMultiBodyArgs.m_numLinks++;
return numLinks; return numLinks;
} }

3
examples/SharedMemory/PhysicsClientC_API.h
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@ -564,8 +564,7 @@ extern "C"
const double linkInertialFrameOrientation[/*4*/], const double linkInertialFrameOrientation[/*4*/],
int linkParentIndex, int linkParentIndex,
int linkJointType, int linkJointType,
const double linkJointAxis[/*3*/], const double linkJointAxis[/*3*/]);
const char* const linkName);
//batch creation is an performance feature to create a large number of multi bodies in one command //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); 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) ///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 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"; std::string linkName = "link";
char numstr[21]; // enough to hold all numbers up to 64-bits char numstr[21]; // enough to hold all numbers up to 64-bits
sprintf(numstr, "%d", linkIndex); sprintf(numstr, "%d", linkIndex);
@ -2332,11 +2328,6 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
virtual std::string getJointName(int linkIndex) const 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"; std::string jointName = "joint";
char numstr[21]; // enough to hold all numbers up to 64-bits char numstr[21]; // enough to hold all numbers up to 64-bits
sprintf(numstr, "%d", linkIndex); sprintf(numstr, "%d", linkIndex);

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

3
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@ -2431,8 +2431,7 @@ int b3RobotSimulatorClientAPI_NoDirect::createMultiBody(struct b3RobotSimulatorC
doubleLinkInertialFrameOrientation, doubleLinkInertialFrameOrientation,
linkParentIndex, linkParentIndex,
linkJointType, linkJointType,
doubleLinkJointAxis, doubleLinkJointAxis);
0);
} }
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); 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* linkInertialFramePositionObj = 0;
PyObject* linkInertialFrameOrientationObj = 0; PyObject* linkInertialFrameOrientationObj = 0;
PyObject* objBatchPositions = 0; PyObject* objBatchPositions = 0;
PyObject* linkNamesObj = 0;
static char* kwlist[] = { static char* kwlist[] = {
"baseMass", "baseCollisionShapeIndex", "baseVisualShapeIndex", "basePosition", "baseOrientation", "baseMass", "baseCollisionShapeIndex", "baseVisualShapeIndex", "basePosition", "baseOrientation",
"baseInertialFramePosition", "baseInertialFrameOrientation", "linkMasses", "linkCollisionShapeIndices", "baseInertialFramePosition", "baseInertialFrameOrientation", "linkMasses", "linkCollisionShapeIndices",
"linkVisualShapeIndices", "linkPositions", "linkOrientations", "linkInertialFramePositions", "linkInertialFrameOrientations", "linkParentIndices", "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, &baseMass, &baseCollisionShapeIndex, &baseVisualShapeIndex, &basePosObj, &baseOrnObj,
&baseInertialFramePositionObj, &baseInertialFrameOrientationObj, &linkMassesObj, &linkCollisionShapeIndicesObj, &baseInertialFramePositionObj, &baseInertialFrameOrientationObj, &linkMassesObj, &linkCollisionShapeIndicesObj,
&linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj, &linkInertialFramePositionObj, &linkInertialFrameOrientationObj, &linkParentIndicesObj, &linkVisualShapeIndicesObj, &linkPositionsObj, &linkOrientationsObj, &linkInertialFramePositionObj, &linkInertialFrameOrientationObj, &linkParentIndicesObj,
&linkJointTypesObj, &linkJointAxisObj, &useMaximalCoordinates, &flags, &objBatchPositions, &linkNamesObj, &physicsClientId)) &linkJointTypesObj, &linkJointAxisObj, &useMaximalCoordinates, &flags, &objBatchPositions, &physicsClientId))
{ {
return NULL; 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* seqLinkInertialFrameOrientations = linkInertialFrameOrientationObj ? PySequence_Fast(linkInertialFrameOrientationObj, "expected a sequence") : 0;
PyObject* seqBatchPositions = objBatchPositions ? PySequence_Fast(objBatchPositions, "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) && if ((numLinkMasses == numLinkCollisionShapes) &&
(numLinkMasses == numLinkVisualShapes) && (numLinkMasses == numLinkVisualShapes) &&
@ -9705,7 +9704,6 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
pybullet_internalGetVector3FromSequence(seqLinkJoinAxis, i, linkJointAxis); pybullet_internalGetVector3FromSequence(seqLinkJoinAxis, i, linkJointAxis);
linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices, i); linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices, i);
linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes, i); linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes, i);
linkName = seqLinkNames? pybullet_internalGetCStringFromSequence(seqLinkNames, i) : 0;
b3CreateMultiBodyLink(commandHandle, b3CreateMultiBodyLink(commandHandle,
linkMass, linkMass,
@ -9717,8 +9715,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
linkInertialFrameOrientation, linkInertialFrameOrientation,
linkParentIndex, linkParentIndex,
linkJointType, linkJointType,
linkJointAxis, linkJointAxis);
linkName);
} }
if (seqLinkMasses) if (seqLinkMasses)

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

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

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