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https://github.com/bulletphysics/bullet3
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Add API to get user constraint id.
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@ -37,6 +37,8 @@ public:
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virtual int getNumUserConstraints() const = 0;
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virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const = 0;
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virtual int getUserConstraintId(int serialIndex) const = 0;
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virtual void setSharedMemoryKey(int key) = 0;
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@ -1179,6 +1179,13 @@ int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniq
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return 0;
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}
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/// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
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int b3GetUserConstraintId(b3PhysicsClientHandle physClient, int serialIndex)
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{
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PhysicsClient* cl = (PhysicsClient* ) physClient;
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return cl->getUserConstraintId(serialIndex);
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}
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/// return the body unique id, given the index in range [0 , b3GetNumBodies() )
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int b3GetBodyUniqueId(b3PhysicsClientHandle physClient, int serialIndex)
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{
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@ -96,6 +96,8 @@ b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHa
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int b3GetNumUserConstraints(b3PhysicsClientHandle physClient);
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int b3GetUserConstraintInfo(b3PhysicsClientHandle physClient, int constraintUniqueId, struct b3UserConstraint* info);
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/// return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
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int b3GetUserConstraintId(b3PhysicsClientHandle physClient, int serialIndex);
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///Request physics debug lines for debug visualization. The flags in debugMode are the same as used in Bullet
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///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h
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@ -163,6 +163,15 @@ int PhysicsClientSharedMemory::getUserConstraintInfo(int constraintUniqueId, str
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return 0;
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}
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int PhysicsClientSharedMemory::getUserConstraintId(int serialIndex) const
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{
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if ((serialIndex >= 0) && (serialIndex < getNumUserConstraints()))
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{
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return m_data->m_userConstraintInfoMap.getKeyAtIndex(serialIndex).getUid1();
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}
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return -1;
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}
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PhysicsClientSharedMemory::PhysicsClientSharedMemory()
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{
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@ -47,6 +47,8 @@ public:
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virtual int getNumUserConstraints() const;
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virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
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virtual int getUserConstraintId(int serialIndex) const;
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virtual void setSharedMemoryKey(int key);
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@ -925,7 +925,14 @@ int PhysicsDirect::getUserConstraintInfo(int constraintUniqueId, struct b3UserCo
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return 0;
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}
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int PhysicsDirect::getUserConstraintId(int serialIndex) const
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{
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if ((serialIndex >= 0) && (serialIndex < getNumUserConstraints()))
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{
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return m_data->m_userConstraintInfoMap.getKeyAtIndex(serialIndex).getUid1();
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}
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return -1;
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}
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int PhysicsDirect::getBodyUniqueId(int serialIndex) const
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{
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@ -66,6 +66,8 @@ public:
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virtual int getNumUserConstraints() const;
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virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint& info) const;
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virtual int getUserConstraintId(int serialIndex) const;
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///todo: move this out of the
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virtual void setSharedMemoryKey(int key);
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@ -108,6 +108,11 @@ int PhysicsLoopBack::getUserConstraintInfo(int constraintUniqueId, struct b3User
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return m_data->m_physicsClient->getUserConstraintInfo( constraintUniqueId, info);
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}
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int PhysicsLoopBack::getUserConstraintId(int serialIndex) const
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{
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return m_data->m_physicsClient->getUserConstraintId(serialIndex);
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}
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///todo: move this out of the interface
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void PhysicsLoopBack::setSharedMemoryKey(int key)
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{
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@ -51,6 +51,8 @@ public:
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virtual int getNumUserConstraints() const;
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virtual int getUserConstraintInfo(int constraintUniqueId, struct b3UserConstraint&info) const;
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virtual int getUserConstraintId(int serialIndex) const;
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///todo: move this out of the
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virtual void setSharedMemoryKey(int key);
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@ -9,6 +9,8 @@ cubeId = p.loadURDF("cube_small.urdf",0,0,1)
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p.setGravity(0,0,-10)
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p.setRealTimeSimulation(1)
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cid = p.createConstraint(cubeId,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0,0,0],[0,0,1])
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print cid
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print p.getConstraintUniqueId(0)
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prev=[0,0,1]
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a=-math.pi
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while 1:
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@ -21,4 +23,4 @@ while 1:
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orn = p.getQuaternionFromEuler([a,0,0])
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p.changeConstraint(cid,pivot,jointChildFrameOrientation=orn, maxForce=50)
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p.removeConstraint(cid)
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p.removeConstraint(cid)
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@ -1846,6 +1846,36 @@ static PyObject* pybullet_getConstraintInfo(PyObject* self, PyObject* args, PyOb
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return NULL;
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}
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static PyObject* pybullet_getConstraintUniqueId(PyObject* self, PyObject* args, PyObject* keywds)
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{
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int physicsClientId = 0;
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int serialIndex = -1;
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b3PhysicsClientHandle sm = 0;
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static char* kwlist[] = {"serialIndex", "physicsClientId", NULL};
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &serialIndex, &physicsClientId))
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{
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return NULL;
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}
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sm = getPhysicsClient(physicsClientId);
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if (sm == 0)
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{
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PyErr_SetString(SpamError, "Not connected to physics server.");
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return NULL;
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}
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{
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int userConstraintId = -1;
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userConstraintId = b3GetUserConstraintId(sm, serialIndex);
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#if PY_MAJOR_VERSION >= 3
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return PyLong_FromLong(userConstraintId);
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#else
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return PyInt_FromLong(userConstraintId);
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#endif
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}
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}
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static PyObject* pybullet_getNumConstraints(PyObject* self, PyObject* args, PyObject* keywds)
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{
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int numConstraints = 0;
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@ -5430,7 +5460,7 @@ static PyMethodDef SpamMethods[] = {
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{"getConstraintInfo", (PyCFunction)pybullet_getConstraintInfo, METH_VARARGS | METH_KEYWORDS,
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"Get the user-created constraint info, given a constraint unique id."},
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{"getConstraintUniqueId", (PyCFunction)pybullet_getBodyUniqueId, METH_VARARGS | METH_KEYWORDS,
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{"getConstraintUniqueId", (PyCFunction)pybullet_getConstraintUniqueId, METH_VARARGS | METH_KEYWORDS,
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"Get the unique id of the constraint, given a integer index in range [0.. number of constraints)."},
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{"getBasePositionAndOrientation", (PyCFunction)pybullet_getBasePositionAndOrientation,
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