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Code Issues Releases Wiki Activity

allow to use the useMultiBody argument for loadMJCF command

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note that for dynamic and static objects (without joints) it is best to set useMultiBody=False
This commit is contained in:
erwin coumans 2021-04-19 20:37:26 -07:00
parent 910c20334f
commit 84a63cf221
3 changed files with 22 additions and 3 deletions
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11
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@ -260,6 +260,17 @@ B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle command
}
}
B3_SHARED_API void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_MJCF);
if (command->m_type == CMD_LOAD_MJCF)
{
command->m_updateFlags |= URDF_ARGS_USE_MULTIBODY;
command->m_mjcfArguments.m_useMultiBody = useMultiBody;
}
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient, const char* fileName)
{
PhysicsClient* cl = (PhysicsClient*)physClient;

2
examples/SharedMemory/PhysicsClientC_API.h
View File

@ -415,6 +415,8 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit2(b3SharedMemoryCommandHandle commandHandle, const char* fileName);
B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
B3_SHARED_API void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId,

12
examples/pybullet/pybullet.c
View File

@ -1336,9 +1336,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
PyObject* pylist = 0;
int physicsClientId = 0;
int flags = -1;
int useMultiBody = -1;
static char* kwlist[] = {"mjcfFileName", "flags", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &mjcfFileName, &flags, &physicsClientId))
static char* kwlist[] = {"mjcfFileName", "flags", "useMultiBody", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|iii", kwlist, &mjcfFileName, &flags, &useMultiBody, &physicsClientId))
{
return NULL;
}
@ -1354,6 +1355,11 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
{
b3LoadMJCFCommandSetFlags(command, flags);
}
if (useMultiBody>=0)
{
b3LoadMJCFCommandSetUseMultiBody(command, useMultiBody);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_MJCF_LOADING_COMPLETED)
@ -1361,7 +1367,7 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
PyErr_SetString(SpamError, "Couldn't load .mjcf file.");
return NULL;
}
numBodies =
b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES);
if (numBodies > MAX_SDF_BODIES)