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Merge pull request #743 from erwincoumans/master

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tweak in BEB F1/screenshot handling, 	by default, have a strong force keep the robot together
This commit is contained in:
erwincoumans 2016-08-17 20:13:48 -07:00 committed by GitHub
commit 8a780fa0a4
5 changed files with 85 additions and 60 deletions
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37
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@ -1103,6 +1103,24 @@ void OpenGLExampleBrowser::update(float deltaTime)
s_app->drawText(bla,10,10);
}
if (gPngFileName)
{
static int skip = 0;
skip--;
if (skip<0)
{
skip=gPngSkipFrames;
//printf("gPngFileName=%s\n",gPngFileName);
static int s_frameCount = 100;
sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
//b3Printf("Made screenshot %s",staticPngFileName);
s_app->dumpNextFrameToPng(staticPngFileName);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
}
if (sCurrentDemo)
{
@ -1145,24 +1163,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
}
}
if (gPngFileName)
{
static int skip = 0;
skip--;
if (skip<0)
{
skip=gPngSkipFrames;
//printf("gPngFileName=%s\n",gPngFileName);
static int s_frameCount = 100;
sprintf(staticPngFileName,"%s%d.png",gPngFileName,s_frameCount++);
//b3Printf("Made screenshot %s",staticPngFileName);
s_app->dumpNextFrameToPng(staticPngFileName);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
}
{

8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -696,7 +696,7 @@ void PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
if (supportsJointMotor(mb,mbLinkIndex))
{
float maxMotorImpulse = 0.f;
float maxMotorImpulse = 10000.f;
int dof = 0;
btScalar desiredVelocity = 0.f;
btMultiBodyJointMotor* motor = new btMultiBodyJointMotor(mb,mbLinkIndex,dof,desiredVelocity,maxMotorImpulse);
@ -1602,6 +1602,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int totalDegreeOfFreedomQ = 0;
int totalDegreeOfFreedomU = 0;
if (mb->getNumLinks()>= MAX_DEGREE_OF_FREEDOM)
{
serverStatusOut.m_type = CMD_ACTUAL_STATE_UPDATE_FAILED;
hasStatus = true;
break;
}
//always add the base, even for static (non-moving objects)
//so that we can easily move the 'fixed' base when needed

2
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -27,7 +27,7 @@
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024)
#define SHARED_MEMORY_SERVER_TEST_C
#define MAX_DEGREE_OF_FREEDOM 64
#define MAX_DEGREE_OF_FREEDOM 128
#define MAX_NUM_SENSORS 256
#define MAX_URDF_FILENAME_LENGTH 1024
#define MAX_SDF_FILENAME_LENGTH 1024

2
examples/TinyRenderer/TinyRenderer.cpp
View File

@ -268,7 +268,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
renderData.m_viewportMatrix = viewport(0,0,width, height);
b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
int* segmentationMaskBufferPtr = &renderData.m_segmentationMaskBufferPtr->at(0);
int* segmentationMaskBufferPtr = renderData.m_segmentationMaskBufferPtr?&renderData.m_segmentationMaskBufferPtr->at(0):0;
TGAImage& frame = renderData.m_rgbColorBuffer;

96
examples/pybullet/pybullet.c
View File

@ -532,7 +532,7 @@ pybullet_setTimeStep(PyObject* self, PyObject* args)
// Internal function used to get the base position and orientation
// Orientation is returned in quaternions
static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double basePosition[3],double baseOrientation[3])
static int pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double basePosition[3],double baseOrientation[3])
{
basePosition[0] = 0.;
basePosition[1] = 0.;
@ -552,7 +552,11 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
const int status_type = b3GetStatusType(status_handle);
if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
PyErr_SetString(SpamError, "getBasePositionAndOrientation failed.");
return 0;
}
const double* actualStateQ;
// const double* jointReactionForces[];
int i;
@ -579,6 +583,7 @@ static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double
}
}
return 1;
}
// Get the positions (x,y,z) and orientation (x,y,z,w) in quaternion
@ -606,7 +611,11 @@ pybullet_getBasePositionAndOrientation(PyObject* self, PyObject* args)
return NULL;
}
pybullet_internalGetBasePositionAndOrientation(bodyIndex,basePosition,baseOrientation);
if (0==pybullet_internalGetBasePositionAndOrientation(bodyIndex, basePosition, baseOrientation))
{
PyErr_SetString(SpamError, "GetBasePositionAndOrientation failed (#joints/links exceeds maximum?).");
return NULL;
}
{
@ -848,42 +857,44 @@ pybullet_getJointInfo(PyObject* self, PyObject* args)
// printf("body index = %d, joint index =%d\n", bodyIndex, jointIndex);
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
pyListJointInfo = PyTuple_New(jointInfoSize);
b3GetJointInfo(sm, bodyIndex, jointIndex, &info);
// printf("Joint%d %s, type %d, at q-index %d and u-index %d\n",
// info.m_jointIndex,
// info.m_jointName,
// info.m_jointType,
// info.m_qIndex,
// info.m_uIndex);
// printf(" flags=%d jointDamping=%f jointFriction=%f\n",
// info.m_flags,
// info.m_jointDamping,
// info.m_jointFriction);
PyTuple_SetItem(pyListJointInfo, 0,
PyInt_FromLong(info.m_jointIndex));
PyTuple_SetItem(pyListJointInfo, 1,
PyString_FromString(info.m_jointName));
PyTuple_SetItem(pyListJointInfo, 2,
PyInt_FromLong(info.m_jointType));
PyTuple_SetItem(pyListJointInfo, 3,
PyInt_FromLong(info.m_qIndex));
PyTuple_SetItem(pyListJointInfo, 4,
PyInt_FromLong(info.m_uIndex));
PyTuple_SetItem(pyListJointInfo, 5,
PyInt_FromLong(info.m_flags));
PyTuple_SetItem(pyListJointInfo, 6,
PyFloat_FromDouble(info.m_jointDamping));
PyTuple_SetItem(pyListJointInfo, 7,
PyFloat_FromDouble(info.m_jointFriction));
return pyListJointInfo;
if (b3GetJointInfo(sm, bodyIndex, jointIndex, &info))
{
// printf("Joint%d %s, type %d, at q-index %d and u-index %d\n",
// info.m_jointIndex,
// info.m_jointName,
// info.m_jointType,
// info.m_qIndex,
// info.m_uIndex);
// printf(" flags=%d jointDamping=%f jointFriction=%f\n",
// info.m_flags,
// info.m_jointDamping,
// info.m_jointFriction);
PyTuple_SetItem(pyListJointInfo, 0,
PyInt_FromLong(info.m_jointIndex));
PyTuple_SetItem(pyListJointInfo, 1,
PyString_FromString(info.m_jointName));
PyTuple_SetItem(pyListJointInfo, 2,
PyInt_FromLong(info.m_jointType));
PyTuple_SetItem(pyListJointInfo, 3,
PyInt_FromLong(info.m_qIndex));
PyTuple_SetItem(pyListJointInfo, 4,
PyInt_FromLong(info.m_uIndex));
PyTuple_SetItem(pyListJointInfo, 5,
PyInt_FromLong(info.m_flags));
PyTuple_SetItem(pyListJointInfo, 6,
PyFloat_FromDouble(info.m_jointDamping));
PyTuple_SetItem(pyListJointInfo, 7,
PyFloat_FromDouble(info.m_jointFriction));
return pyListJointInfo;
}
else
{
PyErr_SetString(SpamError, "GetJointInfo failed.");
return NULL;
}
}
}
@ -934,12 +945,19 @@ pybullet_getJointState(PyObject* self, PyObject* args)
{
if (PyArg_ParseTuple(args, "ii", &bodyIndex, &jointIndex))
{
int status_type = 0;
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
status_type = b3GetStatusType(status_handle);
if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
PyErr_SetString(SpamError, "getBasePositionAndOrientation failed.");
return NULL;
}
pyListJointState = PyTuple_New(sensorStateSize);
pyListJointForceTorque = PyTuple_New(forceTorqueSize);