mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
Fix a bug that createVisualShape(Array) does not have the correct color. Add urdfEditor.py to pybullet_utils. Remove all unnecessary changes of white spaces.
This commit is contained in:
jietan
parent
d91a58e050
commit
f4ca3f5963
File diff suppressed because one or more lines are too long
@ -238,7 +238,7 @@ static int pybullet_internalGetVector3FromSequence(PyObject* seq, int index, dou
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}
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else
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{
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item = PyTuple_GET_ITEM(seq, index);
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item = PyTuple_GET_ITEM(seq, index);
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pybullet_internalSetVectord(item,vec);
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}
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return v;
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@ -256,7 +256,7 @@ static int pybullet_internalGetVector4FromSequence(PyObject* seq, int index, dou
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}
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else
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{
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item = PyTuple_GET_ITEM(seq, index);
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item = PyTuple_GET_ITEM(seq, index);
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pybullet_internalSetVector4d(item,vec);
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}
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return v;
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@ -326,7 +326,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
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static char* kwlist1[] = {"method","key", "options", NULL};
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static char* kwlist2[] = {"method","hostName", "port", "options", NULL};
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|is", kwlist1, &method,&key,&options))
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{
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int port = -1;
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@ -373,7 +373,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
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{
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case eCONNECT_GUI:
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{
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#ifdef __APPLE__
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sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
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@ -389,7 +389,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
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}
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case eCONNECT_GUI_SERVER:
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{
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#ifdef __APPLE__
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sm = b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(argc, argv);
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#else
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@ -472,7 +472,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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statusType = b3GetStatusType(statusHandle);
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if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
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if (statusType != CMD_SYNC_BODY_INFO_COMPLETED)
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{
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printf("Connection terminated, couldn't get body info\n");
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b3DisconnectSharedMemory(sm);
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@ -798,7 +798,7 @@ static PyObject* pybullet_saveState(PyObject* self, PyObject* args, PyObject* ke
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}
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stateId = b3GetStatusGetStateId(statusHandle);
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return PyInt_FromLong(stateId);
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return PyInt_FromLong(stateId);
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}
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static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* keywds)
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@ -880,25 +880,25 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
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PyObject* localInertiaDiagonalObj=0;
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b3PhysicsClientHandle sm = 0;
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int physicsClientId = 0;
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static char* kwlist[] = {"bodyUniqueId", "linkIndex", "mass", "lateralFriction", "spinningFriction", "rollingFriction","restitution", "linearDamping", "angularDamping", "contactStiffness", "contactDamping", "frictionAnchor", "localInertiaDiagonal", "ccdSweptSphereRadius", "physicsClientId", NULL};
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|dddddddddiOdi", kwlist, &bodyUniqueId, &linkIndex,&mass, &lateralFriction, &spinningFriction, &rollingFriction, &restitution,&linearDamping, &angularDamping, &contactStiffness, &contactDamping, &frictionAnchor, &localInertiaDiagonalObj, &ccdSweptSphereRadius, &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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b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(sm);
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b3SharedMemoryStatusHandle statusHandle;
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if (mass >= 0)
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{
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b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, mass);
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@ -949,7 +949,7 @@ static PyObject* pybullet_changeDynamicsInfo(PyObject* self, PyObject* args, PyO
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}
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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}
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Py_INCREF(Py_None);
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return Py_None;
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}
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@ -961,7 +961,7 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje
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int linkIndex = -2;
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b3PhysicsClientHandle sm = 0;
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int physicsClientId = 0;
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static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
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@ -979,7 +979,7 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje
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b3SharedMemoryCommandHandle cmd_handle;
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b3SharedMemoryStatusHandle status_handle;
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struct b3DynamicsInfo info;
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if (bodyUniqueId < 0)
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{
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@ -999,15 +999,15 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje
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PyErr_SetString(SpamError, "getDynamicsInfo failed; invalid return status");
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return NULL;
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}
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if (b3GetDynamicsInfo(status_handle, &info))
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{
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int numFields = 10;
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PyObject* pyDynamicsInfo = PyTuple_New(numFields);
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PyTuple_SetItem(pyDynamicsInfo, 0, PyFloat_FromDouble(info.m_mass));
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PyTuple_SetItem(pyDynamicsInfo, 1, PyFloat_FromDouble(info.m_lateralFrictionCoeff));
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{
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PyObject* pyInertiaDiag = PyTuple_New(3);
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PyTuple_SetItem(pyInertiaDiag, 0, PyFloat_FromDouble(info.m_localInertialDiagonal[0]));
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@ -1078,8 +1078,8 @@ static PyObject* pybullet_getPhysicsEngineParameters(PyObject* self, PyObject* a
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//for now, return a subset, expose more/all on request
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val = Py_BuildValue("{s:d,s:i,s:i,s:i,s:d,s:d,s:d}",
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"fixedTimeStep", params.m_deltaTime,
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"numSubSteps", params.m_numSimulationSubSteps,
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"fixedTimeStep", params.m_deltaTime,
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"numSubSteps", params.m_numSimulationSubSteps,
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"numSolverIterations", params.m_numSolverIterations,
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"useRealTimeSimulation", params.m_useRealTimeSimulation,
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"gravityAccelerationX", params.m_gravityAcceleration[0],
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@ -1088,9 +1088,9 @@ static PyObject* pybullet_getPhysicsEngineParameters(PyObject* self, PyObject* a
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);
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return val;
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}
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//"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP",
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//"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP",
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//val = Py_BuildValue("{s:i,s:i}","isConnected", isConnected, "connectionMethod", method);
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}
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@ -1203,7 +1203,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
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if (allowedCcdPenetration>=0)
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{
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b3PhysicsParameterSetAllowedCcdPenetration(command,allowedCcdPenetration);
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}
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
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@ -1429,29 +1429,29 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
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{
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int physicsClientId = 0;
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int flags = 0;
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static char* kwlist[] = {"fileName", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
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int bodyUniqueId= -1;
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const char* fileName = "";
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double scale = -1;
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double mass = -1;
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double collisionMargin = -1;
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b3PhysicsClientHandle sm = 0;
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if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|dddi", kwlist, &fileName, &scale, &mass, &collisionMargin, &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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if (strlen(fileName))
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{
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b3SharedMemoryStatusHandle statusHandle;
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@ -1754,7 +1754,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
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}
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{
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int numJoints;
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int i;
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b3SharedMemoryCommandHandle commandHandle;
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@ -1769,7 +1769,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
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PyObject* kdsSeq = 0;
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numJoints = b3GetNumJoints(sm, bodyUniqueId);
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if ((controlMode != CONTROL_MODE_VELOCITY) &&
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(controlMode != CONTROL_MODE_TORQUE) &&
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(controlMode != CONTROL_MODE_POSITION_VELOCITY_PD))
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@ -1785,7 +1785,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
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PyErr_SetString(SpamError, "expected a sequence of joint indices");
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return NULL;
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}
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numControlledDofs = PySequence_Size(jointIndicesObj);
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if (numControlledDofs==0)
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{
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@ -1793,7 +1793,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
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Py_INCREF(Py_None);
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return Py_None;
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}
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{
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int i;
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for (i = 0; i < numControlledDofs; i++)
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@ -1819,7 +1819,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
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}
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targetVelocitiesSeq = PySequence_Fast(targetVelocitiesObj, "expected a sequence of target velocities");
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}
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if (targetPositionsObj)
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{
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int num = PySequence_Size(targetPositionsObj);
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@ -1833,10 +1833,10 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
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PyErr_SetString(SpamError, "number of target positions should match the number of joint indices");
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return NULL;
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}
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targetPositionsSeq = PySequence_Fast(targetPositionsObj, "expected a sequence of target positions");
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}
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if (forcesObj)
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{
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int num = PySequence_Size(forcesObj);
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@ -1851,15 +1851,15 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
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{
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Py_DECREF(targetPositionsSeq);
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}
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PyErr_SetString(SpamError, "number of forces should match the joint indices");
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return NULL;
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}
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forcesSeq = PySequence_Fast(forcesObj, "expected a sequence of forces");
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}
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if (kpsObj)
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{
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int num = PySequence_Size(kpsObj);
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@ -1882,11 +1882,11 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
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PyErr_SetString(SpamError, "number of kps should match the joint indices");
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return NULL;
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}
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kpsSeq = PySequence_Fast(kpsObj, "expected a sequence of kps");
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}
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if (kdsObj)
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{
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int num = PySequence_Size(kdsObj);
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@ -1912,7 +1912,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
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PyErr_SetString(SpamError, "number of kds should match the number of joint indices");
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return NULL;
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}
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kdsSeq = PySequence_Fast(kdsObj, "expected a sequence of kds");
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}
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@ -1937,17 +1937,17 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
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targetPosition = pybullet_internalGetFloatFromSequence(targetPositionsSeq, i);
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}
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if (forcesSeq)
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{
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force = pybullet_internalGetFloatFromSequence(forcesSeq, i);
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}
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if (kpsSeq)
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{
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kp = pybullet_internalGetFloatFromSequence(kpsSeq, i);
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}
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if (kdsSeq)
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{
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kd = pybullet_internalGetFloatFromSequence(kdsSeq, i);
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@ -2404,7 +2404,7 @@ static PyObject* pybullet_getAABB(PyObject* self, PyObject* args, PyObject* keyw
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int bodyUniqueId = -1;
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int linkIndex = -1;
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b3PhysicsClientHandle sm = 0;
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int physicsClientId = 0;
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static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
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@ -2879,7 +2879,7 @@ static PyObject* pybullet_getConstraintUniqueId(PyObject* self, PyObject* args,
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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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@ -2891,11 +2891,11 @@ static PyObject* pybullet_getConstraintUniqueId(PyObject* self, PyObject* args,
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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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@ -3232,7 +3232,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
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// info.m_jointDamping,
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// info.m_jointFriction);
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PyTuple_SetItem(pyListJointInfo, 0, PyInt_FromLong(info.m_jointIndex));
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if (info.m_jointName[0])
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{
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PyTuple_SetItem(pyListJointInfo, 1,
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@ -3242,7 +3242,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
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PyTuple_SetItem(pyListJointInfo, 1,
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PyString_FromString("not available"));
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}
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PyTuple_SetItem(pyListJointInfo, 2, PyInt_FromLong(info.m_jointType));
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PyTuple_SetItem(pyListJointInfo, 3, PyInt_FromLong(info.m_qIndex));
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PyTuple_SetItem(pyListJointInfo, 4, PyInt_FromLong(info.m_uIndex));
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@ -3261,7 +3261,7 @@ static PyObject* pybullet_getJointInfo(PyObject* self, PyObject* args, PyObject*
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PyFloat_FromDouble(info.m_jointMaxVelocity));
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if (info.m_linkName[0])
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{
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PyTuple_SetItem(pyListJointInfo, 12,
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PyString_FromString(info.m_linkName));
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} else
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@ -3463,7 +3463,7 @@ static PyObject* pybullet_getJointStates(PyObject* self, PyObject* args, PyObjec
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PyErr_SetString(SpamError, "expected a sequence of joint indices");
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return NULL;
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}
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numRequestedJoints = PySequence_Size(jointIndicesObj);
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if (numRequestedJoints==0)
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{
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@ -3471,8 +3471,8 @@ static PyObject* pybullet_getJointStates(PyObject* self, PyObject* args, PyObjec
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Py_INCREF(Py_None);
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return Py_None;
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}
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cmd_handle =
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b3RequestActualStateCommandInit(sm, bodyUniqueId);
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@ -3653,7 +3653,7 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args, PyObject*
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PyFloat_FromDouble(linkState.m_worldLinkFrameOrientation[i]));
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}
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if (computeLinkVelocity)
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{
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@ -3858,7 +3858,7 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj
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statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
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statusType = b3GetStatusType(statusHandle);
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if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED)
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{
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debugItemUniqueId = b3GetDebugItemUniqueId(statusHandle);
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@ -4058,7 +4058,7 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
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{
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b3StateLoggingSetMaxLogDof(commandHandle, maxLogDof);
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}
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if (bodyUniqueIdA > -1)
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{
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b3StateLoggingSetBodyAUniqueId(commandHandle, bodyUniqueIdA);
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@ -4333,10 +4333,10 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
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return NULL;
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}
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commandHandle = b3CreateRaycastBatchCommandInit(sm);
|
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if (rayFromObjList)
|
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{
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PyObject* seqRayFromObj = PySequence_Fast(rayFromObjList, "expected a sequence of rayFrom positions");
|
||||
@ -4369,11 +4369,11 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
|
||||
PyObject* rayToObj = PySequence_GetItem(seqRayToObj,i);
|
||||
double rayFromWorld[3];
|
||||
double rayToWorld[3];
|
||||
|
||||
|
||||
if ((pybullet_internalSetVectord(rayFromObj, rayFromWorld)) &&
|
||||
(pybullet_internalSetVectord(rayToObj, rayToWorld)))
|
||||
{
|
||||
b3RaycastBatchAddRay(commandHandle, rayFromWorld, rayToWorld);
|
||||
b3RaycastBatchAddRay(commandHandle, rayFromWorld, rayToWorld);
|
||||
} else
|
||||
{
|
||||
PyErr_SetString(SpamError, "Items in the from/to positions need to be an [x,y,z] list of 3 floats/doubles");
|
||||
@ -4624,7 +4624,7 @@ static PyObject* pybullet_getMouseEvents(PyObject* self, PyObject* args, PyObjec
|
||||
PyTuple_SetItem(mouseEventObj,3, PyInt_FromLong(mouseEventsData.m_mouseEvents[i].m_buttonIndex));
|
||||
PyTuple_SetItem(mouseEventObj,4, PyInt_FromLong(mouseEventsData.m_mouseEvents[i].m_buttonState));
|
||||
PyTuple_SetItem(mouseEventsObj,i,mouseEventObj);
|
||||
|
||||
|
||||
}
|
||||
return mouseEventsObj;
|
||||
}
|
||||
@ -5012,7 +5012,7 @@ static PyObject* pybullet_getCollisionShapeData(PyObject* self, PyObject* args,
|
||||
PyTuple_SetItem(collisionShapeObList, 6, vec);
|
||||
}
|
||||
|
||||
|
||||
|
||||
PyTuple_SetItem(pyResultList, i, collisionShapeObList);
|
||||
}
|
||||
return pyResultList;
|
||||
@ -5152,7 +5152,7 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
|
||||
PyObject* rgbaColorObj = 0;
|
||||
PyObject* specularColorObj = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
b3PhysicsClientHandle sm = 0;
|
||||
static char* kwlist[] = {"objectUniqueId", "linkIndex", "shapeIndex", "textureUniqueId", "rgbaColor", "specularColor", "physicsClientId", NULL};
|
||||
@ -5211,7 +5211,7 @@ static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject
|
||||
int physicsClientId = 0;
|
||||
int width=-1;
|
||||
int height=-1;
|
||||
|
||||
|
||||
PyObject* pixelsObj = 0;
|
||||
|
||||
b3PhysicsClientHandle sm = 0;
|
||||
@ -5248,7 +5248,7 @@ static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject
|
||||
item = PyTuple_GET_ITEM(seqPixels, i);
|
||||
pixelBuffer[i] = PyLong_AsLong(item);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
commandHandle = b3CreateChangeTextureCommandInit(sm,textureUniqueId, width,height,(const char*) pixelBuffer);
|
||||
free(pixelBuffer);
|
||||
@ -5617,7 +5617,7 @@ static PyObject* pybullet_removeUserConstraint(PyObject* self, PyObject* args, P
|
||||
};
|
||||
|
||||
/*
|
||||
static PyObject* pybullet_updateUserConstraint(PyObject* self, PyObject* args, PyObject *keywds)
|
||||
static PyObject* pybullet_updateUserConstraint(PyObject* self, PyObject* args, PyObject *keywds)
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
@ -5699,7 +5699,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
|
||||
PyObject* halfExtentsObj=0;
|
||||
|
||||
static char* kwlist[] = {"shapeType","radius","halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "collisionFramePosition", "collisionFrameOrientation", "physicsClientId", NULL};
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOi", kwlist,
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOi", kwlist,
|
||||
&shapeType, &radius,&halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags,&collisionFramePositionObj, &collisionFrameOrientationObj, &physicsClientId))
|
||||
{
|
||||
return NULL;
|
||||
@ -5794,8 +5794,8 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar
|
||||
PyObject* flagsArray = 0;
|
||||
PyObject* collisionFramePositionObjArray = 0;
|
||||
PyObject* collisionFrameOrientationObjArray = 0;
|
||||
|
||||
static char* kwlist[] = { "shapeTypes", "radii", "halfExtents", "lengths", "fileNames", "meshScales", "planeNormals",
|
||||
|
||||
static char* kwlist[] = { "shapeTypes", "radii", "halfExtents", "lengths", "fileNames", "meshScales", "planeNormals",
|
||||
"flags", "collisionFramePositions", "collisionFrameOrientations", "physicsClientId", NULL };
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "O|OOOOOOOOOi", kwlist,
|
||||
&shapeTypeArray, &radiusArray, &halfExtentsObjArray, &lengthArray, &fileNameArray, &meshScaleObjArray, &planeNormalObjArray, &flagsArray, &collisionFramePositionObjArray, &collisionFrameOrientationObjArray, &physicsClientId))
|
||||
@ -5810,7 +5810,7 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
{
|
||||
b3SharedMemoryCommandHandle commandHandle = b3CreateCollisionShapeCommandInit(sm);
|
||||
@ -5929,7 +5929,7 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar
|
||||
{
|
||||
shapeIndex = b3CreateCollisionShapeAddMesh(commandHandle, fileName, meshScale);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
if (shapeType == GEOM_PLANE)
|
||||
{
|
||||
@ -6008,7 +6008,7 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar
|
||||
|
||||
static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
|
||||
{
|
||||
|
||||
|
||||
int physicsClientId = 0;
|
||||
b3PhysicsClientHandle sm = 0;
|
||||
|
||||
@ -6033,11 +6033,11 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb
|
||||
double visualFramePosition[3]={0,0,0};
|
||||
PyObject* visualFrameOrientationObj=0;
|
||||
double visualFrameOrientation[4]={0,0,0,1};
|
||||
|
||||
|
||||
PyObject* halfExtentsObj=0;
|
||||
|
||||
static char* kwlist[] = {"shapeType","radius","halfExtents", "length", "fileName", "meshScale", "planeNormal", "flags", "rgbaColor", "specularColor", "visualFramePosition", "visualFrameOrientation", "physicsClientId", NULL};
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOi", kwlist,
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOi", kwlist,
|
||||
&shapeType, &radius,&halfExtentsObj, &length, &fileName, &meshScaleObj, &planeNormalObj, &flags, &rgbaColorObj, &specularColorObj, &visualFramePositionObj, &visualFrameOrientationObj, &physicsClientId))
|
||||
{
|
||||
return NULL;
|
||||
@ -6049,7 +6049,7 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb
|
||||
PyErr_SetString(SpamError, "Not connected to physics server.");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
|
||||
if (shapeType>=GEOM_SPHERE)
|
||||
{
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
@ -6067,7 +6067,7 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb
|
||||
pybullet_internalSetVectord(halfExtentsObj,halfExtents);
|
||||
shapeIndex = b3CreateVisualShapeAddBox(commandHandle,halfExtents);
|
||||
}
|
||||
|
||||
|
||||
if (shapeType==GEOM_CAPSULE && radius>0 && length>=0)
|
||||
{
|
||||
shapeIndex = b3CreateVisualShapeAddCapsule(commandHandle,radius,length);
|
||||
@ -6094,31 +6094,33 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb
|
||||
|
||||
if (shapeIndex>=0)
|
||||
{
|
||||
double rgbaColor[4] = {1,1,1,1};
|
||||
double specularColor[3] = {1,1,1};
|
||||
if (rgbaColorObj)
|
||||
{
|
||||
pybullet_internalSetVector4d(rgbaColorObj,rgbaColor);
|
||||
}
|
||||
b3CreateVisualShapeSetRGBAColor(commandHandle,shapeIndex, rgbaColor);
|
||||
double rgbaColor[4] = {1,1,1,1};
|
||||
double specularColor[3] = {1,1,1};
|
||||
if (rgbaColorObj)
|
||||
{
|
||||
pybullet_internalSetVector4d(rgbaColorObj,rgbaColor);
|
||||
}
|
||||
b3CreateVisualShapeSetRGBAColor(commandHandle,shapeIndex, rgbaColor);
|
||||
|
||||
if (specularColorObj)
|
||||
{
|
||||
pybullet_internalSetVectord(specularColorObj,specularColor);
|
||||
}
|
||||
b3CreateVisualShapeSetSpecularColor(commandHandle,shapeIndex,specularColor);
|
||||
if (specularColorObj)
|
||||
{
|
||||
pybullet_internalSetVectord(specularColorObj,specularColor);
|
||||
}
|
||||
b3CreateVisualShapeSetSpecularColor(commandHandle,shapeIndex,specularColor);
|
||||
|
||||
if (visualFramePositionObj)
|
||||
{
|
||||
pybullet_internalSetVectord(visualFramePositionObj,visualFramePosition);
|
||||
}
|
||||
|
||||
if (visualFrameOrientationObj)
|
||||
{
|
||||
pybullet_internalSetVector4d(visualFrameOrientationObj,visualFrameOrientation);
|
||||
}
|
||||
b3CreateVisualShapeSetChildTransform(commandHandle, shapeIndex, visualFramePosition,visualFrameOrientation);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
@ -6148,16 +6150,16 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args,
|
||||
PyObject* fileNameArray = 0;
|
||||
PyObject* meshScaleObjArray = 0;
|
||||
PyObject* planeNormalObjArray = 0;
|
||||
PyObject* rgbaColorArray = 0;
|
||||
PyObject* rgbaColorArray = 0;
|
||||
PyObject* flagsArray = 0;
|
||||
PyObject* visualFramePositionObjArray = 0;
|
||||
PyObject* visualFrameOrientationObjArray = 0;
|
||||
|
||||
static char* kwlist[] = { "shapeTypes", "radii", "halfExtents", "lengths", "fileNames", "meshScales", "planeNormals",
|
||||
"flags", "rgbaColors", "visualFramePositions", "visualFrameOrientations", "physicsClientId", NULL };
|
||||
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "O|OOOOOOOOOOi", kwlist,
|
||||
&shapeTypeArray, &radiusArray, &halfExtentsObjArray, &lengthArray, &fileNameArray, &meshScaleObjArray, &planeNormalObjArray, &flagsArray, &rgbaColorArray, &visualFramePositionObjArray, &visualFrameOrientationObjArray, &physicsClientId))
|
||||
static char* kwlist[] = { "shapeTypes", "radii", "halfExtents", "lengths", "fileNames", "meshScales", "planeNormals",
|
||||
"flags", "rgbaColors", "visualFramePositions", "visualFrameOrientations", "physicsClientId", NULL };
|
||||
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "O|OOOOOOOOOOi", kwlist,
|
||||
&shapeTypeArray, &radiusArray, &halfExtentsObjArray, &lengthArray, &fileNameArray, &meshScaleObjArray, &planeNormalObjArray, &flagsArray, &rgbaColorArray, &visualFramePositionObjArray, &visualFrameOrientationObjArray, &physicsClientId))
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
@ -6167,6 +6169,10 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args,
|
||||
PyErr_SetString(SpamError, "Not connected to physics server.");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
{
|
||||
b3SharedMemoryCommandHandle commandHandle = b3CreateVisualShapeCommandInit(sm);
|
||||
int numShapeTypes = 0;
|
||||
@ -6176,7 +6182,7 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args,
|
||||
int numFileNames = 0;
|
||||
int numMeshScales = 0;
|
||||
int numPlaneNormals = 0;
|
||||
int numRGBAColors = 0;
|
||||
int numRGBAColors = 0;
|
||||
int numFlags = 0;
|
||||
int numPositions = 0;
|
||||
int numOrientations = 0;
|
||||
@ -6189,7 +6195,7 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args,
|
||||
PyObject* fileNameArraySeq = fileNameArray ? PySequence_Fast(fileNameArray, "expected a sequence of filename") : 0;
|
||||
PyObject* meshScaleArraySeq = meshScaleObjArray ? PySequence_Fast(meshScaleObjArray, "expected a sequence of mesh scale") : 0;
|
||||
PyObject* planeNormalArraySeq = planeNormalObjArray ? PySequence_Fast(planeNormalObjArray, "expected a sequence of plane normal") : 0;
|
||||
PyObject* rgbaColorArraySeq = rgbaColorArray ? PySequence_Fast(rgbaColorArray, "expected a sequence of rgba color") : 0;
|
||||
PyObject* rgbaColorArraySeq = rgbaColorArray ? PySequence_Fast(rgbaColorArray, "expected a sequence of rgba color") : 0;
|
||||
PyObject* flagsArraySeq = flagsArray ? PySequence_Fast(flagsArray, "expected a sequence of flags") : 0;
|
||||
PyObject* positionArraySeq = visualFramePositionObjArray ? PySequence_Fast(visualFramePositionObjArray, "expected a sequence of visual frame positions") : 0;
|
||||
PyObject* orientationArraySeq = visualFrameOrientationObjArray ? PySequence_Fast(visualFrameOrientationObjArray, "expected a sequence of visual frame orientations") : 0;
|
||||
@ -6207,7 +6213,7 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args,
|
||||
numFileNames = fileNameArraySeq ? PySequence_Size(fileNameArraySeq) : 0;
|
||||
numMeshScales = meshScaleArraySeq ? PySequence_Size(meshScaleArraySeq) : 0;
|
||||
numPlaneNormals = planeNormalArraySeq ? PySequence_Size(planeNormalArraySeq) : 0;
|
||||
numRGBAColors = rgbaColorArraySeq ? PySequence_Size(rgbaColorArraySeq) : 0;
|
||||
numRGBAColors = rgbaColorArraySeq ? PySequence_Size(rgbaColorArraySeq) : 0;
|
||||
|
||||
for (s = 0; s<numShapeTypes; s++)
|
||||
{
|
||||
@ -6302,16 +6308,16 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args,
|
||||
int flags = pybullet_internalGetIntFromSequence(flagsArraySeq, s);
|
||||
b3CreateVisualSetFlag(commandHandle, shapeIndex, flags);
|
||||
}
|
||||
if (rgbaColorArraySeq)
|
||||
{
|
||||
PyObject* rgbaColorObj = rgbaColorArraySeq ? PyList_GET_ITEM(rgbaColorArraySeq, s) : 0;
|
||||
double rgbaColor[4] = {1,1,1,1};
|
||||
if (rgbaColorObj)
|
||||
{
|
||||
pybullet_internalSetVector4d(rgbaColorObj,rgbaColor);
|
||||
}
|
||||
b3CreateVisualShapeSetRGBAColor(commandHandle,shapeIndex, rgbaColor);
|
||||
}
|
||||
if (rgbaColorArraySeq)
|
||||
{
|
||||
PyObject* rgbaColorObj = rgbaColorArraySeq ? PyList_GET_ITEM(rgbaColorArraySeq, s) : 0;
|
||||
double rgbaColor[4] = {1,1,1,1};
|
||||
if (rgbaColorObj)
|
||||
{
|
||||
pybullet_internalSetVector4d(rgbaColorObj,rgbaColor);
|
||||
}
|
||||
b3CreateVisualShapeSetRGBAColor(commandHandle,shapeIndex, rgbaColor);
|
||||
}
|
||||
if (positionArraySeq || orientationArraySeq)
|
||||
{
|
||||
PyObject* visualFramePositionObj = positionArraySeq ? PyList_GET_ITEM(positionArraySeq, s) : 0;
|
||||
@ -6334,6 +6340,9 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args,
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
if (shapeTypeArraySeq)
|
||||
@ -6350,10 +6359,10 @@ static PyObject* pybullet_createVisualShapeArray(PyObject* self, PyObject* args,
|
||||
Py_DECREF(meshScaleArraySeq);
|
||||
if (planeNormalArraySeq)
|
||||
Py_DECREF(planeNormalArraySeq);
|
||||
if (rgbaColorArraySeq)
|
||||
Py_DECREF(rgbaColorArraySeq);
|
||||
if (flagsArraySeq)
|
||||
Py_DECREF(flagsArraySeq);
|
||||
if (rgbaColorArraySeq)
|
||||
Py_DECREF(rgbaColorArraySeq);
|
||||
if (positionArraySeq)
|
||||
Py_DECREF(positionArraySeq);
|
||||
if (orientationArraySeq)
|
||||
@ -6398,7 +6407,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
|
||||
|
||||
static char* kwlist[] = {"baseMass","baseCollisionShapeIndex","baseVisualShapeIndex","basePosition", "baseOrientation", "baseInertialFramePosition", "baseInertialFrameOrientation",
|
||||
"linkMasses","linkCollisionShapeIndices", "linkVisualShapeIndices",
|
||||
"linkPositions", "linkOrientations","linkInertialFramePositions","linkInertialFrameOrientations", "linkParentIndices", "linkJointTypes","linkJointAxis",
|
||||
"linkPositions", "linkOrientations","linkInertialFramePositions","linkInertialFrameOrientations", "linkParentIndices", "linkJointTypes","linkJointAxis",
|
||||
"useMaximalCoordinates","physicsClientId", NULL};
|
||||
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diiOOOOOOOOOOOOOOii", kwlist, &baseMass,&baseCollisionShapeIndex,&baseVisualShapeIndex,
|
||||
@ -6489,11 +6498,11 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
|
||||
linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices,i);
|
||||
linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes,i);
|
||||
|
||||
b3CreateMultiBodyLink(commandHandle,
|
||||
linkMass,
|
||||
linkCollisionShapeIndex,
|
||||
linkVisualShapeIndex,
|
||||
linkPosition,
|
||||
b3CreateMultiBodyLink(commandHandle,
|
||||
linkMass,
|
||||
linkCollisionShapeIndex,
|
||||
linkVisualShapeIndex,
|
||||
linkPosition,
|
||||
linkOrientation,
|
||||
linkInertialFramePosition,
|
||||
linkInertialFrameOrientation,
|
||||
@ -6564,7 +6573,7 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
|
||||
PyErr_SetString(SpamError, "All link arrays need to be same size.");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
|
||||
|
||||
#if 0
|
||||
PyObject* seq;
|
||||
@ -6693,7 +6702,7 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
|
||||
int bodyUniqueIdB = -1;
|
||||
int linkIndexA = -2;
|
||||
int linkIndexB = -2;
|
||||
|
||||
|
||||
b3SharedMemoryCommandHandle commandHandle;
|
||||
struct b3ContactInformation contactPointData;
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
@ -6732,7 +6741,7 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
|
||||
{
|
||||
b3SetContactFilterLinkB( commandHandle, linkIndexB);
|
||||
}
|
||||
|
||||
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
|
||||
@ -6862,12 +6871,12 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
|
||||
bytesPerPixel};
|
||||
npy_intp dep_dims[2] = {imageData.m_pixelHeight, imageData.m_pixelWidth};
|
||||
npy_intp seg_dims[2] = {imageData.m_pixelHeight, imageData.m_pixelWidth};
|
||||
|
||||
|
||||
pyResultList = PyTuple_New(5);
|
||||
|
||||
|
||||
PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth));
|
||||
PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight));
|
||||
|
||||
|
||||
pyRGB = PyArray_SimpleNew(3, rgb_dims, NPY_UINT8);
|
||||
pyDep = PyArray_SimpleNew(2, dep_dims, NPY_FLOAT32);
|
||||
pySeg = PyArray_SimpleNew(2, seg_dims, NPY_INT32);
|
||||
@ -7274,7 +7283,7 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
|
||||
statusType = b3GetStatusType(statusHandle);
|
||||
if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
|
||||
{
|
||||
|
||||
|
||||
PyObject* pyResultList; // store 4 elements in this result: width,
|
||||
// height, rgbData, depth
|
||||
|
||||
@ -7283,7 +7292,7 @@ static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args)
|
||||
PyObject* pyDep;
|
||||
PyObject* pySeg;
|
||||
|
||||
|
||||
|
||||
int bytesPerPixel = 4; // Red, Green, Blue, and Alpha each 8 bit values
|
||||
|
||||
b3GetCameraImageData(sm, &imageData);
|
||||
@ -7631,7 +7640,7 @@ static PyObject* pybullet_multiplyTransforms(PyObject* self,
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
|
||||
|
||||
hasPosA = pybullet_internalSetVectord(posAObj, posA);
|
||||
hasOrnA = pybullet_internalSetVector4d(ornAObj, ornA);
|
||||
hasPosB = pybullet_internalSetVectord(posBObj, posB);
|
||||
@ -7655,7 +7664,7 @@ static PyObject* pybullet_multiplyTransforms(PyObject* self,
|
||||
PyTuple_SetItem(pyPosOutObj, i, PyFloat_FromDouble(outPos[i]));
|
||||
for (i = 0; i < 4; i++)
|
||||
PyTuple_SetItem(pyOrnOutObj, i, PyFloat_FromDouble(outOrn[i]));
|
||||
|
||||
|
||||
PyTuple_SetItem(pyListOutObj, 0, pyPosOutObj);
|
||||
PyTuple_SetItem(pyListOutObj, 1, pyOrnOutObj);
|
||||
|
||||
@ -7684,7 +7693,7 @@ static PyObject* pybullet_invertTransform(PyObject* self,
|
||||
|
||||
hasPos = pybullet_internalSetVectord(posObj, pos);
|
||||
hasOrn = pybullet_internalSetVector4d(ornObj, orn);
|
||||
|
||||
|
||||
if (hasPos && hasOrn)
|
||||
{
|
||||
double outPos[3];
|
||||
@ -7703,18 +7712,18 @@ static PyObject* pybullet_invertTransform(PyObject* self,
|
||||
PyTuple_SetItem(pyPosOutObj, i, PyFloat_FromDouble(outPos[i]));
|
||||
for (i = 0; i < 4; i++)
|
||||
PyTuple_SetItem(pyOrnOutObj, i, PyFloat_FromDouble(outOrn[i]));
|
||||
|
||||
|
||||
PyTuple_SetItem(pyListOutObj, 0, pyPosOutObj);
|
||||
PyTuple_SetItem(pyListOutObj, 1, pyOrnOutObj);
|
||||
|
||||
return pyListOutObj;
|
||||
}
|
||||
|
||||
|
||||
|
||||
PyErr_SetString(SpamError, "Invalid input: expected position [x,y,z] and orientation [x,y,z,w].");
|
||||
return NULL;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/// quaternion <-> euler yaw/pitch/roll convention from URDF/SDF, see Gazebo
|
||||
/// https://github.com/arpg/Gazebo/blob/master/gazebo/math/Quaternion.cc
|
||||
@ -7798,7 +7807,7 @@ static PyObject* pybullet_loadPlugin(PyObject* self,
|
||||
PyObject* args, PyObject* keywds)
|
||||
{
|
||||
int physicsClientId = 0;
|
||||
|
||||
|
||||
char* pluginPath = 0;
|
||||
char* postFix = 0;
|
||||
|
||||
@ -7906,16 +7915,16 @@ static PyObject* pybullet_executePluginCommand(PyObject* self,
|
||||
int val = pybullet_internalGetIntFromSequence(seqIntArgs,i);
|
||||
b3CustomCommandExecuteAddIntArgument(command, val);
|
||||
}
|
||||
|
||||
|
||||
|
||||
for (i=0;i<numFloatArgs;i++)
|
||||
{
|
||||
float val = pybullet_internalGetFloatFromSequence(seqFloatArgs,i);
|
||||
b3CustomCommandExecuteAddFloatArgument(command, val);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
||||
statusType = b3GetStatusPluginCommandResult(statusHandle);
|
||||
return PyInt_FromLong(statusType);
|
||||
@ -7934,7 +7943,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
|
||||
|
||||
PyObject* targetPosObj = 0;
|
||||
PyObject* targetOrnObj = 0;
|
||||
|
||||
|
||||
int solver = 0; // the default IK solver is DLS
|
||||
int physicsClientId = 0;
|
||||
b3PhysicsClientHandle sm = 0;
|
||||
@ -8197,7 +8206,7 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (dofCountOrg && (szObPos == dofCountOrg) && (szObVel == dofCountOrg) &&
|
||||
(szObAcc == dofCountOrg))
|
||||
@ -8239,7 +8248,7 @@ static PyObject* pybullet_calculateInverseDynamics(PyObject* self, PyObject* arg
|
||||
b3GetStatusInverseDynamicsJointForces(statusHandle, &bodyUniqueId,
|
||||
&dofCount, 0);
|
||||
|
||||
|
||||
|
||||
if (dofCount)
|
||||
{
|
||||
b3GetStatusInverseDynamicsJointForces(statusHandle, 0, 0,
|
||||
@ -8317,7 +8326,7 @@ static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyOb
|
||||
int szObVel = PySequence_Size(objVelocities);
|
||||
int szObAcc = PySequence_Size(objAccelerations);
|
||||
int numJoints = b3GetNumJoints(sm, bodyUniqueId);
|
||||
if (numJoints && (szLoPos == 3) && (szObPos == numJoints) &&
|
||||
if (numJoints && (szLoPos == 3) && (szObPos == numJoints) &&
|
||||
(szObVel == numJoints) && (szObAcc == numJoints))
|
||||
{
|
||||
int byteSizeJoints = sizeof(double) * numJoints;
|
||||
@ -8342,7 +8351,7 @@ static PyObject* pybullet_calculateJacobian(PyObject* self, PyObject* args, PyOb
|
||||
pybullet_internalGetFloatFromSequence(objAccelerations, i);
|
||||
}
|
||||
{
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
b3SharedMemoryCommandHandle commandHandle =
|
||||
b3CalculateJacobianCommandInit(sm, bodyUniqueId,
|
||||
@ -8465,7 +8474,7 @@ static PyObject* pybullet_calculateMassMatrix(PyObject* self, PyObject* args, Py
|
||||
pybullet_internalGetFloatFromSequence(objPositions, i);
|
||||
}
|
||||
{
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
b3SharedMemoryStatusHandle statusHandle;
|
||||
int statusType;
|
||||
b3SharedMemoryCommandHandle commandHandle =
|
||||
b3CalculateMassMatrixCommandInit(sm, bodyUniqueId, jointPositions);
|
||||
@ -8479,7 +8488,7 @@ static PyObject* pybullet_calculateMassMatrix(PyObject* self, PyObject* args, Py
|
||||
{
|
||||
int byteSizeDofCount = sizeof(double) * dofCount;
|
||||
pyResultList = PyTuple_New(dofCount);
|
||||
|
||||
|
||||
massMatrix = (double*)malloc(dofCount * byteSizeDofCount);
|
||||
b3GetStatusMassMatrix(sm, statusHandle, NULL, massMatrix);
|
||||
if (massMatrix)
|
||||
@ -8715,10 +8724,10 @@ static PyMethodDef SpamMethods[] = {
|
||||
"resetJointState(objectUniqueId, jointIndex, targetValue, targetVelocity=0, physicsClientId=0)\n"
|
||||
"Reset the state (position, velocity etc) for a joint on a body "
|
||||
"instantaneously, not through physics simulation."},
|
||||
|
||||
|
||||
{"changeDynamics", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
|
||||
"change dynamics information such as mass, lateral friction coefficient."},
|
||||
|
||||
|
||||
{"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
|
||||
"Get dynamics information such as mass, lateral friction coefficient."},
|
||||
|
||||
@ -8827,7 +8836,7 @@ static PyMethodDef SpamMethods[] = {
|
||||
|
||||
{"changeVisualShape", (PyCFunction)pybullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS,
|
||||
"Change part of the visual shape information for one object."},
|
||||
|
||||
|
||||
{"resetVisualShapeData", (PyCFunction)pybullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS,
|
||||
"Obsolete method, kept for backward compatibility, use changeVisualShapeData instead."},
|
||||
|
||||
@ -8847,10 +8856,10 @@ static PyMethodDef SpamMethods[] = {
|
||||
|
||||
{"multiplyTransforms", (PyCFunction) pybullet_multiplyTransforms, METH_VARARGS | METH_KEYWORDS,
|
||||
"Multiply two transform, provided as [position], [quaternion]."},
|
||||
|
||||
|
||||
{"invertTransform", (PyCFunction) pybullet_invertTransform, METH_VARARGS | METH_KEYWORDS,
|
||||
"Invert a transform, provided as [position], [quaternion]."},
|
||||
|
||||
|
||||
{"getMatrixFromQuaternion", (PyCFunction)pybullet_getMatrixFromQuaternion, METH_VARARGS| METH_KEYWORDS,
|
||||
"Compute the 3x3 matrix from a quaternion, as a list of 9 values (row-major)"},
|
||||
|
||||
@ -8872,7 +8881,7 @@ static PyMethodDef SpamMethods[] = {
|
||||
"Returns:\n"
|
||||
" linearJacobian - a list of the partial linear velocities of the jacobian.\n"
|
||||
" angularJacobian - a list of the partial angular velocities of the jacobian.\n"},
|
||||
|
||||
|
||||
{"calculateMassMatrix", (PyCFunction)pybullet_calculateMassMatrix, METH_VARARGS | METH_KEYWORDS,
|
||||
"massMatrix = calculateMassMatrix(bodyUniqueId, objPositions, physicsClientId=0)\n"
|
||||
"Compute the mass matrix for an object and its chain of bodies.\n"
|
||||
@ -9043,8 +9052,8 @@ initpybullet(void)
|
||||
PyModule_AddIntConstant(m, "JOINT_FIXED", eFixedType); // user read
|
||||
PyModule_AddIntConstant(m, "JOINT_POINT2POINT", ePoint2PointType); // user read
|
||||
PyModule_AddIntConstant(m, "JOINT_GEAR", eGearType); // user read
|
||||
|
||||
|
||||
|
||||
|
||||
PyModule_AddIntConstant(m, "SENSOR_FORCE_TORQUE", eSensorForceTorqueType); // user read
|
||||
|
||||
PyModule_AddIntConstant(m, "TORQUE_CONTROL", CONTROL_MODE_TORQUE);
|
||||
@ -9162,20 +9171,20 @@ initpybullet(void)
|
||||
|
||||
PyModule_AddIntConstant(m, "GEOM_FORCE_CONCAVE_TRIMESH", GEOM_FORCE_CONCAVE_TRIMESH);
|
||||
PyModule_AddIntConstant(m, "GEOM_CONCAVE_INTERNAL_EDGE", GEOM_CONCAVE_INTERNAL_EDGE);
|
||||
|
||||
|
||||
|
||||
|
||||
PyModule_AddIntConstant(m, "STATE_LOG_JOINT_MOTOR_TORQUES", STATE_LOG_JOINT_MOTOR_TORQUES);
|
||||
PyModule_AddIntConstant(m, "STATE_LOG_JOINT_USER_TORQUES", STATE_LOG_JOINT_USER_TORQUES);
|
||||
PyModule_AddIntConstant(m, "STATE_LOG_JOINT_TORQUES", STATE_LOG_JOINT_USER_TORQUES+STATE_LOG_JOINT_MOTOR_TORQUES);
|
||||
|
||||
|
||||
|
||||
|
||||
SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
|
||||
Py_INCREF(SpamError);
|
||||
PyModule_AddObject(m, "error", SpamError);
|
||||
printf("pybullet build time: %s %s\n", __DATE__,__TIME__);
|
||||
|
||||
|
||||
Py_AtExit( b3pybulletExitFunc );
|
||||
|
||||
|
||||
|
||||
#ifdef PYBULLET_USE_NUMPY
|
||||
// Initialize numpy array.
|
||||
|
||||
Loading…
Reference in New Issue
Block a user