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expose COV_ENABLE_Y_AXIS_UP to pybullet

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increase MAX_SDF_BODIES from 512 to 1024 (botlab needs it)
This commit is contained in:
Erwin Coumans 2017-11-04 12:51:13 -07:00
parent 4798d66f19
commit 5701b5b152
3 changed files with 9 additions and 5 deletions
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1
examples/SharedMemory/SharedMemoryCommands.h
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@ -32,7 +32,6 @@
#define MAX_SDF_FILENAME_LENGTH 1024
#define MAX_FILENAME_LENGTH MAX_URDF_FILENAME_LENGTH
#define MAX_NUM_LINKS MAX_DEGREE_OF_FREEDOM
#define MAX_SDF_BODIES 512
struct TmpFloat3
{

2
examples/SharedMemory/SharedMemoryPublic.h
View File

@ -355,6 +355,8 @@ enum b3VREventType
#define MAX_KEYBOARD_EVENTS 256
#define MAX_MOUSE_EVENTS 256
#define MAX_SDF_BODIES 1024
enum b3VRButtonInfo
{

11
examples/pybullet/pybullet.c
View File

@ -1,5 +1,4 @@
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
@ -571,7 +570,6 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args, PyObject* ke
return NULL;
}
#define MAX_SDF_BODIES 512
static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args, PyObject* keywds)
{
const char* bulletFileName = "";
@ -701,7 +699,9 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES);
if (numBodies > MAX_SDF_BODIES)
{
PyErr_SetString(SpamError, "SDF exceeds body capacity");
char str[1024];
sprintf(str,"SDF exceeds body capacity: %d > %d", numBodies, MAX_SDF_BODIES);
PyErr_SetString(SpamError, str);
return NULL;
}
@ -1197,7 +1197,9 @@ static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args, PyObject* keyw
b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES);
if (numBodies > MAX_SDF_BODIES)
{
PyErr_SetString(SpamError, "SDF exceeds body capacity");
char str[1024];
sprintf(str,"SDF exceeds body capacity: %d > %d", numBodies, MAX_SDF_BODIES);
PyErr_SetString(SpamError, str);
return NULL;
}
@ -8191,6 +8193,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "COV_ENABLE_VR_TELEPORTING", COV_ENABLE_VR_TELEPORTING);
PyModule_AddIntConstant(m, "COV_ENABLE_RENDERING", COV_ENABLE_RENDERING);
PyModule_AddIntConstant(m, "COV_ENABLE_TINY_RENDERER", COV_ENABLE_TINY_RENDERER);
PyModule_AddIntConstant(m, "COV_ENABLE_Y_AXIS_UP", COV_ENABLE_Y_AXIS_UP);
PyModule_AddIntConstant(m, "COV_ENABLE_VR_RENDER_CONTROLLERS", COV_ENABLE_VR_RENDER_CONTROLLERS);
PyModule_AddIntConstant(m, "COV_ENABLE_KEYBOARD_SHORTCUTS", COV_ENABLE_KEYBOARD_SHORTCUTS);